Convert RobotTime into a singleton

src/main/java/frc4388/robot/Robot.java

@@ -22,6 +22,7 @@ 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();
+        configureLEDMotorControllers();
-        configureDriveSubsystem();
+        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();
     }
   }

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();
         }

src/main/java/frc4388/utility/RobotTime.java

@@ -11,29 +11,42 @@ package frc4388.utility;
  * <p>Keeps track of Robot times like time passed, delta time, etc
  * <p>All times are in milliseconds
  */
-public final class RobotTime {
+public class RobotTime {
-    private static long m_currTime = System.currentTimeMillis();
+    private long m_currTime = System.currentTimeMillis();
-    public static long m_deltaTime = 0;
+    public long m_deltaTime = 0;
 
-    private static long m_startRobotTime = m_currTime;
+    private long m_startRobotTime = m_currTime;
-    public static long m_robotTime = 0;
+    public long m_robotTime = 0;
-    public static long m_lastRobotTime = 0;
+    public long m_lastRobotTime = 0;
 
-    private static long m_startMatchTime = 0;
+    private long m_startMatchTime = 0;
-    public static long m_matchTime = 0;
+    public  long m_matchTime = 0;
-    public static long m_lastMatchTime = 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;
     }