Drive singleton

Team-4795 · Sep 17, 2024 · 6a55ffb · 6a55ffb
1 parent c91f4fb
commit 6a55ffb
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Showing 2 changed files with 24 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -61,13 +61,20 @@ public RobotContainer() {
     switch (Constants.currentMode) {
       case REAL:
         // Real robot, instantiate hardware IO implementations
-        drive =
-            new Drive(
-                new GyroIOPigeon2(),
+        drive = Drive.initialize(
+                new GyroIOPigeon2(), 
                 new ModuleIOSparkMax(0),
                 new ModuleIOSparkMax(1),
                 new ModuleIOSparkMax(2),
                 new ModuleIOSparkMax(3));
+
+            // new Drive(
+            //     new GyroIOPigeon2(),
+            //     new ModuleIOSparkMax(0),
+            //     new ModuleIOSparkMax(1),
+            //     new ModuleIOSparkMax(2),
+            //     new ModuleIOSparkMax(3));
+
         flywheel = new Flywheel(new FlywheelIOSparkMax());
         // drive = new Drive(
         // new GyroIOPigeon2(),
@@ -151,7 +158,7 @@ private void configureButtonBindings() {
             () -> -controller.getLeftX(),
             () -> -controller.getRightX()));
     controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive));
-    
+
     controller
         .b()
         .onTrue(

diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -42,6 +42,7 @@
 import org.littletonrobotics.junction.Logger;
 
 public class Drive extends SubsystemBase {
+  private static Drive instance;
   private static final double MAX_LINEAR_SPEED = Units.feetToMeters(14.5);
   private static final double TRACK_WIDTH_X = Units.inchesToMeters(25.0);
   private static final double TRACK_WIDTH_Y = Units.inchesToMeters(25.0);
@@ -63,9 +64,21 @@ public class Drive extends SubsystemBase {
         new SwerveModulePosition(),
         new SwerveModulePosition()
       };
+
   private SwerveDrivePoseEstimator poseEstimator =
       new SwerveDrivePoseEstimator(kinematics, rawGyroRotation, lastModulePositions, new Pose2d());
 
+  public static Drive getInstance() {
+    return instance;
+  }
+
+  public static Drive initialize(GyroIO gyro, ModuleIO fl, ModuleIO fr, ModuleIO bl, ModuleIO br) {
+    if (instance == null) {
+      instance = new Drive(gyro, fl, fr, bl, br);
+    }
+    return instance;
+  }
+
   public Drive(
       GyroIO gyroIO,
       ModuleIO flModuleIO,