Change odometry thread start call location

team4909 · Apr 13, 2024 · 9c4eddf · 9c4eddf
1 parent b190866
commit 9c4eddf
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/drivetrain/Drivetrain.java b/src/main/java/frc/robot/drivetrain/Drivetrain.java
@@ -58,7 +58,7 @@ public class Drivetrain extends SubsystemBase {
   public static final double kDriveBaseRadius =
       Math.hypot(kTrackwidthMeters / 2.0, kWheelbaseMeters / 2.0);
   private static final LoggedTunableNumber speakerRangeMeters =
-      new LoggedTunableNumber("Drivetrain/InRangeRadius", 5.0);
+      new LoggedTunableNumber("Drivetrain/InRangeRadius", 7.0);
   private final double kMaxLinearSpeedMetersPerSecond = Units.feetToMeters(16);
   private final double kMaxAngularSpeedRadPerSec = 2 * Math.PI;
   private final double kDeadband = 0.1;
@@ -92,7 +92,6 @@ public Drivetrain(
     m_modules[1] = new Module(frontRightModuleIO, 1);
     m_modules[2] = new Module(backLeftModuleIO, 2);
     m_modules[3] = new Module(backRightModuleIO, 3);
-    PhoenixOdometryThread.getInstance().start();
 
     m_sysIdRoutineDrive =
         new SysIdRoutine(

diff --git a/src/main/java/frc/robot/drivetrain/PhoenixOdometryThread.java b/src/main/java/frc/robot/drivetrain/PhoenixOdometryThread.java
@@ -42,6 +42,7 @@ public static PhoenixOdometryThread getInstance() {
   private PhoenixOdometryThread() {
     setName("PhoenixOdometryThread");
     setDaemon(true);
+    start();
   }
 
   @Override