Moving update entries to periodic

team5419 · Dec 1, 2023 · 31855fa · 31855fa
1 parent 2da4f71
commit 31855fa
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -22,6 +22,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.autos.Auto;
 import frc.robot.commands.arm.MoveToPos;
+import frc.robot.commands.swerve.Detector;
 import frc.robot.commands.testing.AutoAlignPennTester;
 
 /**
@@ -37,6 +38,7 @@ public class Robot extends TimedRobot {
   private static LinkedHashMap<String, Auto> autoMap = new LinkedHashMap<String, Auto>(); 
   private static LinkedHashMap<String, Auto> tempMap = new LinkedHashMap<String, Auto>();
   private static SendableChooser<Auto> chooser;
+  private Detector detector = new Detector();
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -71,6 +73,7 @@ public void robotPeriodic() {
     // commands, running already-scheduled commands, removing finished or interrupted commands,
     // and running subsystem periodic() methods.  This must be called from the robot's periodic
     // block in order for anything in the Command-based framework to work.
+    detector.updateEntries();
     CommandScheduler.getInstance().run();
   }
 

diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -36,14 +36,12 @@
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.*;
-import frc.robot.commands.swerve.Detector;
 
 public class Swerve extends SubsystemBase {
     // public SwerveDriveOdometry swerveOdometry;
     public SwerveDrivePoseEstimator estimator;
     public SwerveModule[] mSwerveMods;
     public Pigeon2 gyro;
-    public Detector detector;
 
     public boolean isUsingCones = true;
     private SwerveAutoBuilder autoBuilder = null;
@@ -217,7 +215,6 @@ public double getRotationRadians(){
     public void periodic(){
         // swerveOdometry.update(getYaw(), getModulePositions());  
         estimator.update(getYaw(), getModulePositions());  
-        detector.updateEntries();
         // for(SwerveModule mod : mSwerveMods){
         //     SmartDashboard.putNumber("Mod " + mod.moduleNumber + " Cancoder", mod.getCanCoder().getDegrees());
         //     SmartDashboard.putNumber("Mod " + mod.moduleNumber + " Integrated", mod.getPosition().angle.getDegrees());