Merge pull request #20 from FRC-7525/autoAlign-bug-fix

quick auto align bug fix
FRC-7525 · Aug 7, 2024 · a8fc24c · a8fc24c
2 parents 5327bbc + 27cd24a
commit a8fc24c
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -97,8 +97,11 @@ public Drive(
 
 	@Override
 	public void runState() {
-		// Can't run in auto otherwise it will constantly tell drive not to drive in auto (and thats not good)
-		if (DriverStation.isTeleop()) {
+		// Can't run in auto otherwise it will constantly tell drive not to drive in auto (and thats not
+		// good)
+
+		if (!DriverStation.isAutonomous()) AutoAlign.periodic();
+		if (DriverStation.isTeleop() && getState() != DriveStates.AUTO_ALIGN) {
 			drive(
 				this,
 				() -> Constants.controller.getLeftY(),
@@ -107,6 +110,8 @@ public void runState() {
 				getState().getRotationModifier(),
 				getState().getTranslationModifier()
 			);
+		} else if (DriverStation.isTeleop() && getState() == DriveStates.AUTO_ALIGN) {
+			AutoAlign.calculateChassisSpeed();
 		}
 	}