Removed testing variables.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Mar 21, 2024 · 6ae0369 · 6ae0369
1 parent 1256127
commit 6ae0369
Showing 1 changed file with 0 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -147,7 +147,6 @@ public void setupPathPlanner()
   public double getDistanceToSpeaker()
   {
     int allianceAprilTag = DriverStation.getAlliance().get() == Alliance.Blue ? 7 : 4;
-    allianceAprilTag = 7;
     // Taken from PhotonUtils.getDistanceToPose
     Pose3d speakerAprilTagPose = aprilTagFieldLayout.getTagPose(allianceAprilTag).get();
     return getPose().getTranslation().getDistance(speakerAprilTagPose.toPose2d().getTranslation());
@@ -161,8 +160,6 @@ public double getDistanceToSpeaker()
   public Rotation2d getSpeakerYaw()
   {
     int allianceAprilTag = DriverStation.getAlliance().get() == Alliance.Blue ? 7 : 4;
-    allianceAprilTag = 7;
-
     // Taken from PhotonUtils.getYawToPose()
     Pose3d        speakerAprilTagPose = aprilTagFieldLayout.getTagPose(allianceAprilTag).get();
     Translation2d relativeTrl         = speakerAprilTagPose.toPose2d().relativeTo(getPose()).getTranslation();