remove unused arm code

src/main/java/frc/robot/Robot.java

@@ -190,8 +190,6 @@ public Robot() {
         "Wrist SysId (Dynamic Forward)", m_arm.sysIdWristDynamic(SysIdRoutine.Direction.kForward));
     m_autoChooser.addOption(
         "Wrist SysId (Dynamic Reverse)", m_arm.sysIdWristDynamic(SysIdRoutine.Direction.kReverse));
-    m_autoChooser.addOption("elbow static characterization", m_arm.elbowStaticCharacterization());
-    m_autoChooser.addOption("wrist static characterization", m_arm.wristStaticCharacterization());
 
     m_autoChooser.addOption("Start Signal Logger", Commands.runOnce(SignalLogger::start));
     m_autoChooser.addOption("End Signal Logger", Commands.runOnce(SignalLogger::stop));

src/main/java/frc/robot/arm/Arm.java

@@ -19,8 +19,6 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
-import frc.lib.LoggedTunableNumber;
-import frc.robot.Constants;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 import org.littletonrobotics.junction.AutoLogOutput;
@@ -37,41 +35,13 @@ public class Arm extends SubsystemBase {
   private final ArmIOInputsAutoLogged m_inputs = new ArmIOInputsAutoLogged();
   private final ArmVisualizer m_goalVisualizer, m_setpointVisualizer, m_measuredVisualizer;
 
-  private static final LoggedTunableNumber elbowCruiseVelocityRadPerSec =
-      new LoggedTunableNumber("Arm/Elbow/CruiseVelocity");
-  private static final LoggedTunableNumber elbowMaxAccelerationRadPerSecSq =
-      new LoggedTunableNumber("Arm/Elbow/MaxAcceleration");
-  private static final LoggedTunableNumber wristCruiseVelocityRadPerSec =
-      new LoggedTunableNumber("Arm/Wrist/CruiseVelocity");
-  private static final LoggedTunableNumber wristMaxAccelerationRadPerSecSq =
-      new LoggedTunableNumber("Arm/Wrist/MaxAcceleration");
-
   private Vector<N2> m_initialAngles;
   private double m_lastElbowSetpoint;
   private double m_lastWristSetpoint;
   public Trigger atGoal = new Trigger(this::jointsAtGoal).debounce(0.1, DebounceType.kBoth);
   public Supplier<Pose3d> wristPoseSupplier;
   private final SysIdRoutine m_sysIdRoutineElbow, m_sysIdRoutineWrist;
 
-  static {
-    switch (Constants.kCurrentMode) {
-      case kReal:
-        elbowCruiseVelocityRadPerSec.initDefault(5.0);
-        elbowMaxAccelerationRadPerSecSq.initDefault(8.0);
-        wristCruiseVelocityRadPerSec.initDefault(4.0);
-        wristMaxAccelerationRadPerSecSq.initDefault(8.0);
-        break;
-      case kSim:
-        elbowCruiseVelocityRadPerSec.initDefault(3.0);
-        elbowMaxAccelerationRadPerSecSq.initDefault(2.0);
-        wristCruiseVelocityRadPerSec.initDefault(5.0);
-        wristMaxAccelerationRadPerSecSq.initDefault(2.0);
-        break;
-      default:
-        break;
-    }
-  }
-
   public Arm(ArmIO io) {
     m_io = io;
     m_goalVisualizer = new ArmVisualizer("ArmGoal", 2, Color.kGreen);
@@ -105,16 +75,6 @@ public void periodic() {
 
     if (DriverStation.isDisabled()) m_io.stop();
 
-    if (elbowCruiseVelocityRadPerSec.hasChanged(hashCode())
-        || elbowMaxAccelerationRadPerSecSq.hasChanged(hashCode())
-        || wristCruiseVelocityRadPerSec.hasChanged(hashCode())
-        || wristMaxAccelerationRadPerSecSq.hasChanged(hashCode()))
-      m_io.configLimits(
-          elbowCruiseVelocityRadPerSec.get(),
-          elbowMaxAccelerationRadPerSecSq.get(),
-          wristCruiseVelocityRadPerSec.get(),
-          wristMaxAccelerationRadPerSecSq.get());
-
     Logger.recordOutput(
         "Arm/Current Elbow Angle Degrees", Units.rotationsToDegrees(m_inputs.elbowPositionRot));
     Logger.recordOutput(
@@ -285,16 +245,6 @@ public Command sysIdWristDynamic(SysIdRoutine.Direction direction) {
     return m_sysIdRoutineWrist.dynamic(direction);
   }
 
-  public Command elbowStaticCharacterization() {
-    return new ArmStaticCharacterization(
-        this, m_io::setElbowCurrent, () -> Units.rotationsToRadians(m_inputs.elbowVelocityRps));
-  }
-
-  public Command wristStaticCharacterization() {
-    return new ArmStaticCharacterization(
-        this, m_io::setWristCurrent, () -> Units.rotationsToRadians(m_inputs.wristVelocityRps));
-  }
-
   public enum ArmSetpoints {
     kStowed(Units.degreesToRadians(-31), Units.degreesToRadians(142), 0.15, 0.0),
     kAmp(1.49 + 0.0873 + Units.degreesToRadians(3.0), Units.degreesToRadians(228), 0.0, 0.0),

src/main/java/frc/robot/arm/ArmIO.java

@@ -33,17 +33,7 @@ public default void setElbowVoltage(double volts) {}
 
   public default void setWristVoltage(double volts) {}
 
-  public default void setElbowCurrent(double amps) {}
-
-  public default void setWristCurrent(double amps) {}
-
   public default void stop() {}
 
   public default void setBrakeMode(boolean enableBrakeMode) {}
-
-  public default void configLimits(
-      double elbowCruiseVelocityRps,
-      double elbowAccelerationRpsSq,
-      double wristCruiseVelocityRps,
-      double wristAccelerationRpsSq) {}
 }

src/main/java/frc/robot/arm/ArmIOTalonFX.java

@@ -7,7 +7,6 @@
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.controls.MotionMagicVoltage;
 import com.ctre.phoenix6.controls.PositionVoltage;
-import com.ctre.phoenix6.controls.TorqueCurrentFOC;
 import com.ctre.phoenix6.hardware.ParentDevice;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.GravityTypeValue;
@@ -210,16 +209,6 @@ public void setWristVoltage(double volts) {
     m_wristLeftMotor.setVoltage(volts);
   }
 
-  @Override
-  public void setElbowCurrent(double amps) {
-    m_elbowLeftMotor.setControl(new TorqueCurrentFOC(amps));
-  }
-
-  @Override
-  public void setWristCurrent(double amps) {
-    m_wristLeftMotor.setControl(new TorqueCurrentFOC(amps));
-  }
-
   @Override
   public void stop() {
     m_elbowLeftMotor.setVoltage(0.0);