Moved the initalization of all DriveTrainVarients to DriveTrain

Team865 · Feb 2, 2022 · e3f3345 · e3f3345
1 parent cb7ed34
commit e3f3345
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Showing 3 changed files with 9 additions and 16 deletions.
diff --git a/src/main/java/ca/warp7/frc2022/Robot.java b/src/main/java/ca/warp7/frc2022/Robot.java
@@ -41,8 +41,6 @@ public final class Robot extends TimedRobot {
     public void robotInit() {
         System.out.println("Hello me is robit!");
 
-        DriveTrain.setVariant(new FalconDriveTrainVariant());
-
         scheduler = CommandScheduler.getInstance();
 
         if (Constants.kDebugCommandScheduler) {

diff --git a/src/main/java/ca/warp7/frc2022/subsystems/DriveTrain.java b/src/main/java/ca/warp7/frc2022/subsystems/DriveTrain.java
@@ -9,8 +9,7 @@
 
 import ca.warp7.frc2022.lib.LazySolenoid;
 import ca.warp7.frc2022.lib.control.PID;
-import ca.warp7.frc2022.subsystems.drivetrain.DriveTrainVariant;
-import ca.warp7.frc2022.subsystems.drivetrain.LazyDriveTrainVariant;
+import ca.warp7.frc2022.subsystems.drivetrain.*;
 
 import com.kauailabs.navx.frc.AHRS;
 import edu.wpi.first.wpilibj.I2C;
@@ -37,18 +36,6 @@ public static DriveTrain getInstance() {
 
     private static DriveTrainVariant driveTrainVariant;
 
-    public static void setVariant(DriveTrainVariant variant) {
-        if (driveTrainVariant != null) {
-            throw new IllegalStateException("Cannot set drive train variant");
-        }
-        if (kEnableDriveTrain){
-            driveTrainVariant = variant;
-        }
-        else{
-            driveTrainVariant = new LazyDriveTrainVariant();
-        }
-    }
-
     private final LazySolenoid shifterSolenoid =
             new LazySolenoid(kDriveShifterID, kEnableSolenoids);
 
@@ -68,6 +55,12 @@ public static void setVariant(DriveTrainVariant variant) {
     private double previousRightPosition = 0.0; // m
 
     private DriveTrain() {
+        if (kEnableDriveTrain){
+            driveTrainVariant = new FalconDriveTrainVariant();
+        }
+        else{
+            driveTrainVariant = new LazyDriveTrainVariant();
+        }
     }
 
     @Override

diff --git a/src/main/java/ca/warp7/frc2022/subsystems/drivetrain/LazyDriveTrainVariant.java b/src/main/java/ca/warp7/frc2022/subsystems/drivetrain/LazyDriveTrainVariant.java
@@ -6,6 +6,8 @@
 /*
     This class is suppose to be a substitute for an instance of DriveTrainVariant. To the rest of the program,
     its a valid DriveTrainVariant, however it does not actually do anything.
+
+    THIS CLASS IS NOT USED WHEN THE DRIVE TRAIN IS ENABLED, NONE OF THE METHODS DO ANYTHING OF USE.
 */
 public final class LazyDriveTrainVariant implements DriveTrainVariant {
     public LazyDriveTrainVariant() {