Refactor CRServo to Servo

ftc13100 · Nov 30, 2024 · ce13986 · ce13986
1 parent 3bc780d
commit ce13986
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Showing 32 changed files with 54 additions and 76 deletions.
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/intake/IntakeBeltCommand.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/intake/IntakeBeltCommand.kt
@@ -15,8 +15,4 @@ class IntakeBeltCommand(
             intakeBeltSubsystem.outtakePos()
         }
     }
-
-   /* override fun end(interrupted: Boolean) {
-        intakeBeltSubsystem.stop()
-    }
-*/}
+}
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/intake/IntakeCommand.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/intake/IntakeCommand.kt
@@ -15,8 +15,4 @@ class IntakeCommand(
             subsystem.outtake()
         }
     }
-
-    override fun end(interrupted: Boolean) {
-        subsystem.stop()
-    }
 }
diff --git a/...rc/main/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/left/Blue1Plus1.kt b/...rc/main/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/left/Blue1Plus1.kt
@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.opModes.auto.blue.basket.left
 
 import com.acmerobotics.roadrunner.geometry.Pose2d
-import com.arcrobotics.ftclib.hardware.motors.CRServo
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
@@ -21,7 +20,7 @@ class Blue1Plus1: OpMode() {
     private lateinit var elevatorLeft: Motor
     private lateinit var elevatorRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
     private lateinit var intakeBelt: Servo
 
     private lateinit var driveSubsystem: DriveSubsystem
@@ -31,7 +30,7 @@ class Blue1Plus1: OpMode() {
     private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
         intakeBelt = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE_BELT.deviceName)
 
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName)
@@ -64,11 +63,7 @@ class Blue1Plus1: OpMode() {
             .addTemporalMarker(8.0) {
                 intakeSubsystem.outtake()
             }
-            .waitSeconds(0.5)
-            .addTemporalMarker(8.5) {
-                intakeSubsystem.stop()
-            }
-            .waitSeconds(1.0)
+            .waitSeconds(1.5)
             .forward(4.0)
             .addTemporalMarker(9.5) {
                 elevatorSubsystem.setpoint = 0.0

diff --git a/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/left/BlueHighBasketLeft.kt b/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/left/BlueHighBasketLeft.kt
@@ -1,9 +1,9 @@
 package org.firstinspires.ftc.teamcode.opModes.auto.blue.basket.left
 
-import com.arcrobotics.ftclib.hardware.motors.CRServo
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.Servo
 import org.firstinspires.ftc.teamcode.constants.AutoStartPose
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
@@ -18,15 +18,15 @@ class BlueHighBasketLeft: OpMode() {
     private lateinit var elevatorLeft: Motor
     private lateinit var elevatorRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
 
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
     private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
 
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName)
         armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName)

diff --git a/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/right/BlueHighBasketRight.kt b/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/right/BlueHighBasketRight.kt
@@ -1,9 +1,10 @@
 package org.firstinspires.ftc.teamcode.opModes.auto.blue.basket.right
 
-import com.arcrobotics.ftclib.hardware.motors.CRServo
+
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.Servo
 import org.firstinspires.ftc.teamcode.constants.AutoStartPose
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
@@ -13,22 +14,21 @@ import org.firstinspires.ftc.teamcode.subsystems.slides.ElevatorSubsystem
 
 
 @Autonomous(name = "Blue High Basket Right", group = "Basket", preselectTeleOp = "MainTeleOp")
-class BlueHighBasketRight() : OpMode() {
-
+class BlueHighBasketRight : OpMode() {
     private lateinit var armLeft: Motor
     private lateinit var armRight: Motor
     private lateinit var elevatorLeft: Motor
     private lateinit var elevatorRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
 
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
     private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
 
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName)
         armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName)

diff --git a/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/left/BlueHighChamberLeft.kt b/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/left/BlueHighChamberLeft.kt
@@ -1,9 +1,10 @@
 package org.firstinspires.ftc.teamcode.opModes.auto.blue.chamber.left
 
-import com.arcrobotics.ftclib.hardware.motors.CRServo
+
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.Servo
 import org.firstinspires.ftc.teamcode.constants.AutoStartPose
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
@@ -18,15 +19,15 @@ class BlueHighChamberLeft() : OpMode() {
     private lateinit var elevatorLeft: Motor
     private lateinit var elevatorRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
 
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
     private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
 
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName)
         armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName)

diff --git a/...in/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/right/BlueHighChamberRight.kt b/...in/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/right/BlueHighChamberRight.kt
@@ -1,9 +1,10 @@
 package org.firstinspires.ftc.teamcode.opModes.auto.blue.chamber.right
 
-import com.arcrobotics.ftclib.hardware.motors.CRServo
+
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.Servo
 import org.firstinspires.ftc.teamcode.constants.AutoStartPose
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
@@ -18,15 +19,15 @@ class BlueHighChamberRight() : OpMode() {
     private lateinit var elevatorLeft: Motor
     private lateinit var elevatorRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
 
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
     private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
 
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName)
         armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName)

diff --git a/...n/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/basket/left/RedHighBasketLeft.kt b/...n/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/basket/left/RedHighBasketLeft.kt
@@ -1,9 +1,10 @@
 package org.firstinspires.ftc.teamcode.opModes.auto.red.basket.left
 
-import com.arcrobotics.ftclib.hardware.motors.CRServo
+
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.Servo
 import org.firstinspires.ftc.teamcode.constants.AutoStartPose
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
@@ -19,15 +20,15 @@ class RedHighBasketLeft() : OpMode() {
     private lateinit var elevatorLeft: Motor
     private lateinit var elevatorRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
 
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
     private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
 
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName)
         armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName)

diff --git a/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/basket/right/RedHighBasketRight.kt b/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/basket/right/RedHighBasketRight.kt
@@ -1,9 +1,10 @@
 package org.firstinspires.ftc.teamcode.opModes.auto.red.basket.right
 
-import com.arcrobotics.ftclib.hardware.motors.CRServo
+
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.Servo
 import org.firstinspires.ftc.teamcode.constants.AutoStartPose
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
@@ -18,15 +19,15 @@ class RedHighBasketRight() : OpMode() {
     private lateinit var elevatorLeft: Motor
     private lateinit var elevatorRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
 
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
     private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
 
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName)
         armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName)

diff --git a/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/chamber/left/RedHighChamberLeft.kt b/...kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/chamber/left/RedHighChamberLeft.kt
@@ -1,9 +1,10 @@
 package org.firstinspires.ftc.teamcode.opModes.auto.red.chamber.left
 
-import com.arcrobotics.ftclib.hardware.motors.CRServo
+
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.Servo
 import org.firstinspires.ftc.teamcode.constants.AutoStartPose
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
@@ -18,15 +19,15 @@ class RedHighChamberLeft() : OpMode() {
     private lateinit var elevatorLeft: Motor
     private lateinit var elevatorRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
 
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
     private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
 
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName)
         armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName)

diff --git a/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/red/chamber/right/RedHighChamberRight.kt b/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/red/chamber/right/RedHighChamberRight.kt
@@ -1,9 +1,10 @@
 package org.firstinspires.ftc.teamcode.opModes.auto.red.chamber.right
 
-import com.arcrobotics.ftclib.hardware.motors.CRServo
+
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.Servo
 import org.firstinspires.ftc.teamcode.constants.AutoStartPose
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
@@ -18,15 +19,15 @@ class RedHighChamberRight() : OpMode() {
     private lateinit var elevatorLeft: Motor
     private lateinit var elevatorRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
 
     private lateinit var driveSubsystem: DriveSubsystem
     private lateinit var intakeSubsystem: IntakeSubsystem
     private lateinit var armSubsystem: ArmSubsystem
     private lateinit var elevatorSubsystem: ElevatorSubsystem
 
     override fun init() {
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
 
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName)
         armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName)

diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt
@@ -7,7 +7,6 @@ import com.arcrobotics.ftclib.command.RunCommand
 import com.arcrobotics.ftclib.command.button.Trigger
 import com.arcrobotics.ftclib.gamepad.GamepadEx
 import com.arcrobotics.ftclib.gamepad.GamepadKeys
-import com.arcrobotics.ftclib.hardware.motors.CRServo
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp
 import com.qualcomm.robotcore.hardware.Servo
@@ -30,7 +29,7 @@ class MainTeleOp : CommandOpMode() {
     private lateinit var armLeft: Motor
     private lateinit var armRight: Motor
 
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
     private lateinit var intakeBelt: Servo
 
     private lateinit var slidesSubsystem: OpenElevatorSubsystem
@@ -69,7 +68,7 @@ class MainTeleOp : CommandOpMode() {
         armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName, Motor.GoBILDA.RPM_60)
         armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName, Motor.GoBILDA.RPM_60)
 
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
         intakeBelt = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE_BELT.deviceName)
 
         armSubsystem = OpenArmSubsystem(armRight, armLeft)

diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/IntakeTuner.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/IntakeTuner.kt
@@ -5,7 +5,7 @@ import com.acmerobotics.dashboard.config.Config
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry
 import com.arcrobotics.ftclib.command.CommandOpMode
 import com.arcrobotics.ftclib.command.RunCommand
-import com.arcrobotics.ftclib.hardware.motors.CRServo
+
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp
 import com.qualcomm.robotcore.hardware.Servo
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
@@ -15,7 +15,7 @@ import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
 @TeleOp
 @Config
 class IntakeTuner : CommandOpMode() {
-    private lateinit var intake: CRServo
+    private lateinit var intake: Servo
     private lateinit var intakeBelt: Servo
 
     private lateinit var intakeSubsystem: IntakeSubsystem
@@ -24,7 +24,7 @@ class IntakeTuner : CommandOpMode() {
     override fun initialize() {
         telemetry = MultipleTelemetry(telemetry, FtcDashboard.getInstance().telemetry)
 
-        intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName)
+        intake = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE.deviceName)
         intakeBelt = hardwareMap.get(Servo::class.java, ControlBoard.INTAKE_BELT.deviceName)
 
         intakeSubsystem = IntakeSubsystem(intake)

diff --git a/...lin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/AutomaticFeedforwardTuner.kt b/...lin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/AutomaticFeedforwardTuner.kt
@@ -6,7 +6,6 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry
 import com.acmerobotics.roadrunner.geometry.Pose2d
 import com.acmerobotics.roadrunner.util.NanoClock
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
-import com.qualcomm.robotcore.eventloop.opmode.Disabled
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
 import com.qualcomm.robotcore.util.RobotLog
 import org.firstinspires.ftc.robotcore.internal.system.Misc

diff --git a/.../src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/BackAndForth.kt b/.../src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/BackAndForth.kt
@@ -3,7 +3,6 @@ package org.firstinspires.ftc.teamcode.opModes.tuning.roadrunner
 import com.acmerobotics.dashboard.config.Config
 import com.acmerobotics.roadrunner.geometry.Pose2d
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
-import com.qualcomm.robotcore.eventloop.opmode.Disabled
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 

diff --git a/.../kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/DriveVelocityPIDTuner.kt b/.../kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/DriveVelocityPIDTuner.kt
@@ -9,7 +9,6 @@ import com.acmerobotics.roadrunner.profile.MotionProfileGenerator.generateSimple
 import com.acmerobotics.roadrunner.profile.MotionState
 import com.acmerobotics.roadrunner.util.NanoClock
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
-import com.qualcomm.robotcore.eventloop.opmode.Disabled
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
 import com.qualcomm.robotcore.hardware.DcMotor
 import com.qualcomm.robotcore.util.RobotLog

diff --git a/.../main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/FollowerPIDTuner.kt b/.../main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/FollowerPIDTuner.kt
@@ -3,7 +3,6 @@ package org.firstinspires.ftc.teamcode.opModes.tuning.roadrunner
 import com.acmerobotics.dashboard.config.Config
 import com.acmerobotics.roadrunner.geometry.Pose2d
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
-import com.qualcomm.robotcore.eventloop.opmode.Disabled
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem