diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index d2c3a6c..e145b38 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -21,7 +21,8 @@ import frc4388.utility.RobotTime;
*/
public class Robot extends TimedRobot {
Command m_autonomousCommand;
-
+
+ private RobotTime m_robotTime = RobotTime.getInstance();
private RobotContainer m_robotContainer;
/**
@@ -45,7 +46,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void robotPeriodic() {
- RobotTime.updateTimes();
+ m_robotTime.updateTimes();
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic
@@ -60,7 +61,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void disabledInit() {
- RobotTime.endMatchTime();
+ m_robotTime.endMatchTime();
}
@Override
@@ -85,7 +86,7 @@ public class Robot extends TimedRobot {
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
}
- RobotTime.startMatchTime();
+ m_robotTime.startMatchTime();
}
/**
@@ -104,7 +105,7 @@ public class Robot extends TimedRobot {
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
- RobotTime.startMatchTime();
+ m_robotTime.startMatchTime();
}
/**
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index befd97a..952bc2b 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -25,15 +25,14 @@ import frc4388.utility.RobotGyro;
public class RobotMap {
public RobotMap() {
- configureLEDSubsystem();
- configureDriveSubsystem();
+ configureLEDMotorControllers();
+ configureDriveMotorControllers();
}
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
- void configureLEDSubsystem() {
-
+ void configureLEDMotorControllers() {
}
/* Drive Subsystem */
@@ -44,7 +43,7 @@ public class RobotMap {
public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
- void configureDriveSubsystem() {
+ void configureDriveMotorControllers() {
/* factory default values */
leftFrontMotor.configFactoryDefault();
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 22870b0..b32547c 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -24,6 +24,8 @@ public class Drive extends SubsystemBase {
// Put methods for controlling this subsystem
// here. Call these from Commands.
+ private RobotTime m_robotTime = RobotTime.getInstance();
+
private WPI_TalonSRX m_leftFrontMotor;
private WPI_TalonSRX m_rightFrontMotor;
private WPI_TalonSRX m_leftBackMotor;
@@ -49,7 +51,7 @@ public class Drive extends SubsystemBase {
public void periodic() {
m_gyro.updatePigeonDeltas();
- if (RobotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
+ if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
updateSmartDashboard();
}
}
diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java
index 76e1831..ab66d00 100644
--- a/src/main/java/frc4388/utility/RobotGyro.java
+++ b/src/main/java/frc4388/utility/RobotGyro.java
@@ -18,6 +18,8 @@ import edu.wpi.first.wpiutil.math.MathUtil;
* Gyro class that allows for interchangeable use between a pigeon and a navX
*/
public class RobotGyro extends GyroBase {
+ private RobotTime m_robotTime = RobotTime.getInstance();
+
private PigeonIMU m_pigeon;
private AHRS m_navX;
public boolean m_isGyroAPigeon; //true if pigeon, false if navX
@@ -149,7 +151,7 @@ public class RobotGyro extends GyroBase {
@Override
public double getRate() {
if (m_isGyroAPigeon) {
- return m_deltaPigeonAngle / (RobotTime.m_deltaTime * 1000);
+ return m_deltaPigeonAngle / (m_robotTime.m_deltaTime * 1000);
} else {
return m_navX.getRate();
}
diff --git a/src/main/java/frc4388/utility/RobotTime.java b/src/main/java/frc4388/utility/RobotTime.java
index 960366b..d427fb7 100644
--- a/src/main/java/frc4388/utility/RobotTime.java
+++ b/src/main/java/frc4388/utility/RobotTime.java
@@ -11,29 +11,42 @@ package frc4388.utility;
* Keeps track of Robot times like time passed, delta time, etc
*
All times are in milliseconds
*/
-public final class RobotTime {
- private static long m_currTime = System.currentTimeMillis();
- public static long m_deltaTime = 0;
+public class RobotTime {
+ private long m_currTime = System.currentTimeMillis();
+ public long m_deltaTime = 0;
- private static long m_startRobotTime = m_currTime;
- public static long m_robotTime = 0;
- public static long m_lastRobotTime = 0;
+ private long m_startRobotTime = m_currTime;
+ public long m_robotTime = 0;
+ public long m_lastRobotTime = 0;
- private static long m_startMatchTime = 0;
- public static long m_matchTime = 0;
- public static long m_lastMatchTime = 0;
+ private long m_startMatchTime = 0;
+ public long m_matchTime = 0;
+ public long m_lastMatchTime = 0;
- public static long m_frameNumber = 0;
+ public long m_frameNumber = 0;
/**
- * This class should not be instantiated.
+ * Private constructor prevents other classes from instantiating
*/
private RobotTime(){}
+ private static RobotTime instance = null;
+
+ /**
+ * Gets the instance of Robot Time. If there is no instance running one will be created.
+ * @return instance of Robot Time
+ */
+ public static RobotTime getInstance() {
+ if (instance == null) {
+ instance = new RobotTime();
+ }
+ return instance;
+ }
+
/**
* Call this once per periodic loop.
*/
- public static void updateTimes() {
+ public void updateTimes() {
m_lastRobotTime = m_robotTime;
m_lastMatchTime = m_matchTime;
@@ -50,7 +63,7 @@ public final class RobotTime {
/**
* Call this in both the auto and periodic inits
*/
- public static void startMatchTime() {
+ public void startMatchTime() {
if (m_matchTime == 0) {
m_startMatchTime = m_currTime;
m_matchTime = 1;
@@ -60,7 +73,7 @@ public final class RobotTime {
/**
* Call this in disabled init
*/
- public static void endMatchTime() {
+ public void endMatchTime() {
m_startMatchTime = 0;
m_matchTime = 0;
}