src/main/java/frc/robot/RobotContainer.java

@@ -14,16 +14,12 @@ import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Elevator;
 import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Manipulator;
-
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
-
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.PrintCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 public class RobotContainer {
@@ -44,8 +40,6 @@ public class RobotContainer {
 	private CommandXboxController driver;
 	private CommandXboxController operator;
 
-	private SendableChooser<Command> autoChooser;
-
 	public RobotContainer() {
 		arm = new Arm();
 
@@ -64,12 +58,8 @@ public class RobotContainer {
 		driver = new CommandXboxController(OIConstants.kDriverControllerPort);
 		operator = new CommandXboxController(OIConstants.kOperatorControllerPort);
 
-		autoChooser = AutoBuilder.buildAutoChooser();
-
 		configureButtonBindings();
 
-		configureNamedCommands();
-
 		configureShuffleboard();
 	}
 
@@ -158,22 +148,10 @@ public class RobotContainer {
 		);
 	}
 
-	private void configureNamedCommands() {
-		NamedCommands.registerCommand("Drivetrain Set X", drivetrain.setXCommand());
-	}
-
 	//creates tabs and transforms them on the shuffleboard
     private void configureShuffleboard() {
-		ShuffleboardTab autoTab = Shuffleboard.getTab(OIConstants.kAutoTab);
     	ShuffleboardTab sensorTab = Shuffleboard.getTab(OIConstants.kSensorsTab);
 
-		Shuffleboard.selectTab(OIConstants.kAutoTab);
-
-		autoTab.add("Auto Selection", autoChooser)
-			.withSize(2, 1)
-			.withPosition(0, 0)
-			.withWidget(BuiltInWidgets.kComboBoxChooser);
-
 		sensorTab.addDouble("ElevatorPosition", elevator::getEncoderPosition)
 			.withSize(2, 1)
 			.withPosition(0, 0)
@@ -186,7 +164,7 @@ public class RobotContainer {
   }
 
 	public Command getAutonomousCommand() {
-		return autoChooser.getSelected();
+		return new PrintCommand("NO AUTO DEFINED");
 	}
 
 	//teleop routines

src/main/java/frc/robot/constants/AutoConstants.java

@@ -1,13 +1,5 @@
 package frc.robot.constants;
 
-import java.io.IOException;
-
-import org.json.simple.parser.ParseException;
-
-import com.pathplanner.lib.config.PIDConstants;
-import com.pathplanner.lib.config.RobotConfig;
-import com.pathplanner.lib.controllers.PPHolonomicDriveController;
-
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 
 public class AutoConstants {
@@ -23,21 +15,4 @@ public class AutoConstants {
     // Constraint for the motion profiled robot angle controller
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
         kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
-
-    // TODO This is a constant being managed like a static rewriteable variable
-    public static RobotConfig kRobotConfig;
-
-    public static final PPHolonomicDriveController kPPDriveController = new PPHolonomicDriveController(
-        new PIDConstants(kPXController, 0, 0),
-        new PIDConstants(kPYController, 0, 0)
-    );
-
-    static {
-        try {
-            kRobotConfig = RobotConfig.fromGUISettings();
-        } catch (IOException | ParseException e) {
-            System.err.println("FAILED TO READ ROBOTCONFIG, WAS THE CONFIG SET UP IN PATHPLANNER?");
-            e.printStackTrace();
-        }
-    }
 }

src/main/java/frc/robot/constants/OIConstants.java

@@ -6,6 +6,5 @@ public class OIConstants {
     
     public static final double kDriveDeadband = 0.05;
 
-    public static final String kAutoTab = "Auto Tab";
-    public static final String kSensorsTab = "Sensors Tab";
+    public static final String kSensorsTab = "SensorsTab";
 }

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -4,11 +4,9 @@
 
 package frc.robot.subsystems;
 
-import java.util.Optional;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
-import com.pathplanner.lib.auto.AutoBuilder;
 import com.studica.frc.AHRS;
 import com.studica.frc.AHRS.NavXComType;
 
@@ -20,10 +18,10 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.ADIS16470_IMU;
+import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.AutoConstants;
 import frc.robot.constants.DrivetrainConstants;
 import frc.robot.constants.OIConstants;
 
@@ -77,23 +75,6 @@ public class Drivetrain extends SubsystemBase {
                 m_rearLeft.getPosition(),
                 m_rearRight.getPosition()
         });
-
-        AutoBuilder.configure(
-            this::getPose, 
-            this::resetOdometry, 
-            this::getCurrentChassisSpeeds, 
-            this::driveWithChassisSpeeds, 
-            AutoConstants.kPPDriveController, 
-            AutoConstants.kRobotConfig,
-            () -> {
-                Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
-                    if (alliance.isPresent()) {
-                        return alliance.get() == DriverStation.Alliance.Red;
-                    }
-                    return false;
-            }, 
-            this
-        );
     }
 
     @Override
@@ -109,23 +90,6 @@ public class Drivetrain extends SubsystemBase {
         });
     }
 
-    public ChassisSpeeds getCurrentChassisSpeeds() {
-        return DrivetrainConstants.kDriveKinematics.toChassisSpeeds(
-            m_frontLeft.getState(),
-            m_frontRight.getState(),
-            m_rearLeft.getState(),
-            m_rearRight.getState()
-        );
-    }
-
-    public void driveWithChassisSpeeds(ChassisSpeeds speeds) {
-        ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.2);
-        SwerveModuleState[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(discreteSpeeds);
-        SwerveDriveKinematics.desaturateWheelSpeeds(newStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
-
-        setModuleStates(newStates);
-    }
-
     /**
      * Returns the currently-estimated pose of the robot.
      *