[Robot] Remove driverWantsFlywheels()

driverWantsFlywheels() is not helpful because if the robot doesn't know where it is, the flywheels won't do anything productive anyway.

Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java

@@ -10,7 +10,6 @@
 import com.swrobotics.robot.commands.AimTowardsSpeakerCommand;
 import com.swrobotics.robot.commands.AmpAlignCommand;
 import com.swrobotics.robot.commands.CharactarizeWheelCommand;
-import com.swrobotics.robot.commands.SnapDistanceCommand;
 import com.swrobotics.robot.config.NTData;
 import com.swrobotics.robot.subsystems.amp.AmpArm2Subsystem;
 import com.swrobotics.robot.subsystems.climber.ClimberArm;
@@ -26,7 +25,6 @@
 import com.swrobotics.robot.subsystems.swerve.SwerveDrive.TurnRequest;
 
 import edu.wpi.first.math.filter.Debouncer;
-import edu.wpi.first.math.filter.Debouncer.DebounceType;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -122,10 +120,10 @@ public ControlBoard(RobotContainer robot) {
 
  driver.y.onFalling(() -> NTData.SHOOTER_PIVOT_RECALIBRATE.set(true));
 
+ // Intake automatically turns off when we have a game piece
+ robot.intake.set(IntakeSubsystem.State.OFF);
  operator.a.onRising(() -> robot.intake.set(IntakeSubsystem.State.INTAKE));
  operator.a.onFalling(() -> robot.intake.set(IntakeSubsystem.State.OFF));
- robot.intake.set(IntakeSubsystem.State.OFF);
-
  new Trigger(() -> robot.indexer.hasPiece() || !operator.a.isPressed())
  .onTrue(Commands.runOnce(() -> robot.intake.set(IntakeSubsystem.State.OFF)));
 
@@ -140,10 +138,6 @@ private boolean driverWantsAim() {
  return driver.rightTrigger.isOutside(TRIGGER_BUTTON_THRESHOLD);
  }
 
- private boolean driverWantsFlywheels() {
- return driverFlywheelDebounce.calculate(driver.rightBumper.isPressed());
- }
-
  private double squareWithSign(double value) {
  double squared = value * value;
  return Math.copySign(squared, value);
@@ -325,7 +319,7 @@ public void periodic() {
  ShooterSubsystem.FlywheelControl flywheelControl = ShooterSubsystem.FlywheelControl.IDLE;
  if (operator.start.isPressed())
  flywheelControl = ShooterSubsystem.FlywheelControl.REVERSE;
- else if (driverWantsAim() || driverWantsFlywheels() || shootAmp || shootManual || forceToSubwoofer || forceToStageCorner || lobbing != 0)
+ else if (driverWantsAim() || shootAmp || shootManual || forceToSubwoofer || forceToStageCorner || lobbing != 0)
  flywheelControl = ShooterSubsystem.FlywheelControl.SHOOT;
  else if (operatorWantsShoot)
  flywheelControl = ShooterSubsystem.FlywheelControl.POOP;
@@ -337,12 +331,12 @@ else if (operatorWantsShoot)
 
  pieceRumbleNt.set(pieceRumble);
 
- driver.setRumble(pieceRumble ? 1.0 : (tooFar && (driverWantsAim() || driverWantsFlywheels()) ? 0.5 : 0));
+ driver.setRumble(pieceRumble ? 1.0 : (tooFar && (driverWantsAim()) ? 0.5 : 0));
  boolean shooterReady = robot.shooter.isReadyToShoot();
  operator.setRumble(pieceRumble ? 1.0 : (shooterReady ? 0.5 : 0));
 
  this.shooterReady.set(shooterReady);
- this.tooFar.set(tooFar && (driverWantsAim() || driverWantsFlywheels()));
+ this.tooFar.set(tooFar && (driverWantsAim()));
  }
 
  NTBoolean pieceRumbleNt = new NTBoolean("Debug/Piece Rumble", false);