remove deprecated autonomous modes

FRC-1123 · Apr 19, 2017 · ff650ba · ff650ba
1 parent 430dd1b
commit ff650ba
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Showing 2 changed files with 1 addition and 45 deletions.
diff --git a/robot/commands/autonomous.py b/robot/commands/autonomous.py
@@ -37,26 +37,6 @@ def __init__(self, mode):
             self.addSequential(Rotate(-85))
             self.addSequential(DriveToRod(timeout=4.0))
             self.addSequential(FinishAutonomous("right"))
-        elif mode == "angledleft":
-            self.addSequential(SetSpeed(0.3, 0.8))
-            self.addSequential(Rotate(38))
-            self.addSequential(DriveToRod(timeout=3.5))
-            self.addSequential(WaitCommand(0.5))
-            self.addSequential(SetSpeed(-0.1, 1.0))
-
-            self.addSequential(SetSpeed(-0.3, 0.5))
-            self.addSequential(Rotate(-20))
-            self.addSequential(SetSpeed(0.3, 1.0))
-        elif mode == "angledright":
-            self.addSequential(SetSpeed(0.3, 0.8))
-            self.addSequential(Rotate(-38))
-            self.addSequential(DriveToRod(timeout=3.5))
-            self.addSequential(WaitCommand(0.5))
-            self.addSequential(SetSpeed(-0.1, 1.0))
-
-            self.addSequential(SetSpeed(-0.3, 0.5))
-            self.addSequential(Rotate(20))
-            self.addSequential(SetSpeed(0.3, 1.0))
         elif mode == "boilerleft":
             self.addSequential(SetSpeed(0.3, 0.35))
             self.addSequential(ControlDumper(False))
@@ -79,30 +59,6 @@ def __init__(self, mode):
             self.addSequential(Rotate(140))
             self.addSequential(DriveToRod(timeout=4.0))
             self.addSequential(FinishAutonomous("right"))
-        elif mode == "oldleft":
-            self.addSequential(SetSpeed(0.2, 0.5))
-            self.addSequential(Rotate(-30))
-            self.addSequential(SetSpeed(0.2, 1.2))
-            self.addSequential(Rotate(40))
-            self.addSequential(DriveToRod(timeout=3.5))
-            self.addSequential(WaitCommand(0.5))
-            self.addSequential(SetSpeed(-0.1, 1.0))
-
-            self.addSequential(SetSpeed(-0.3, 0.5))
-            self.addSequential(Rotate(-20))
-            self.addSequential(SetSpeed(0.3, 1.0))
-        elif mode == "oldright":
-            self.addSequential(SetSpeed(0.2, 0.5))
-            self.addSequential(Rotate(30))
-            self.addSequential(SetSpeed(0.2, 1.2))
-            self.addSequential(Rotate(-40))
-            self.addSequential(DriveToRod(timeout=3.5))
-            self.addSequential(WaitCommand(0.5))
-            self.addSequential(SetSpeed(-0.1, 1.0))
-
-            self.addSequential(SetSpeed(-0.3, 0.5))
-            self.addSequential(Rotate(20))
-            self.addSequential(SetSpeed(0.3, 1.0))
         else:  # center mode
             # self.addSequential(SetSpeed(0.3, 0.3))
             self.logger.info("Drive to rod now!")

diff --git a/robot/robot.py b/robot/robot.py
@@ -26,7 +26,7 @@ def robotInit(self):
 
         # set autonomous modes
         self.sd.putStringArray("autonomous/options",
-                               ["left", "center", "right", "boilerleft", "boilerright", "angledleft", "angledright", "borkleft", "borkright", "oldleft", "oldright"])
+                               ["left", "center", "right", "boilerleft", "boilerright", "borkleft", "borkright"])
         self.sd.putString("autonomous/selected", "left")
         self.sd.putBoolean("isautonomous", False)