Convert RobotTime into a singleton

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();
   }
 
   /**

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();

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();
     }
   }