cleanup and bug fixes

RobotCasserole1736 · Oct 20, 2024 · a17dd96 · a17dd96
1 parent 3400e5f
commit a17dd96
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Showing 3 changed files with 3 additions and 11 deletions.
diff --git a/drivetrain/poseEstimation/drivetrainPoseTelemetry.py b/drivetrain/poseEstimation/drivetrainPoseTelemetry.py
@@ -1,12 +1,10 @@
 import math
 
 import wpilib
-from wpimath.units import metersToFeet
 from wpimath.trajectory import Trajectory
 from wpimath.geometry import Pose2d, Pose3d, Transform2d, Rotation2d, Translation2d
 from ntcore import NetworkTableInstance
 
-from utils.signalLogging import addLog
 from utils.allianceTransformUtils import transform
 from drivetrain.drivetrainPhysical import ROBOT_TO_FRONT_CAM, ROBOT_TO_LEFT_CAM, ROBOT_TO_RIGHT_CAM, robotToModuleTranslations
 from wrappers.wrapperedPoseEstPhotonCamera import CameraPoseObservation

diff --git a/robot.py b/robot.py
@@ -1,8 +1,4 @@
-import math
-import random
 import sys
-import cProfile, pstats
-from line_profiler import LineProfiler
 import wpilib
 from dashboard import Dashboard
 from drivetrain.controlStrategies.autoDrive import AutoDrive
@@ -13,8 +9,7 @@
 from humanInterface.ledControl import LEDControl
 from navigation.forceGenerators import PointObstacle
 from utils.segmentTimeTracker import SegmentTimeTracker
-from utils.signalLogging import addLog, addLog, update
-import utils.signalLogging
+from utils.signalLogging import logUpdate
 from utils.calibration import CalibrationWrangler
 from utils.faults import FaultWrangler
 from utils.crashLogger import CrashLogger
@@ -84,7 +79,7 @@ def robotPeriodic(self):
         self.ledCtrl.update()
         self.stt.mark("LED Ctrl")
 
-        update()
+        logUpdate()
         self.stt.end()
 
     #########################################################

diff --git a/utils/signalLogging.py b/utils/signalLogging.py
@@ -5,7 +5,6 @@
 import wpiutil.log as wpilog  # pylint: disable=import-error,no-name-in-module
 from utils.extDriveManager import ExtDriveManager
 from utils.singleton import Singleton
-from collections import defaultdict
 
 
 BASE_TABLE = "SmartDashboard"
@@ -76,7 +75,7 @@ def newLogVal(self, name:str, valGetter:Callable[[],float], units:str|None):
 
 _singletonInst = SignalWrangler() # cache a reference
 # Log a new named value
-def update():
+def logUpdate():
     _singletonInst.update()
 
 def addLog(alias: str, value_getter: Callable[[], float], units=None) -> None: