Moved checkTractionEncoder() into drivetrain holonomic() so that it o…

…nly gets called when not rotating (in theory)

src/org/usfirst/frc/team4256/robot/R_Drivetrain.java

@@ -81,19 +81,21 @@ public void holonomic(final double direction, double speed, final double spin) {
 			for (int i = 0; i < 4; i++) modules[i].set(speeds_final[i]);//control traction if good and there
 		}else stop();//otherwise, stop traction
 
+		if (spin < 0.07) moduleD.checkTractionEncoder();
+
 		//{UPDATE RECORDS}
 		previousSpin = spin;
 	}
 
 
-	public void holonomic_encoderIgnorant(final double direction, double speed, final double speedSpin) {
+	public void holonomic_encoderIgnorant(final double direction, double speed, final double spin) {
 		//{PREPARE VARIABLES}
 		speed = Math.abs(speed);
 		final double chassis_fieldAngle = gyro.getCurrentAngle();
 		final double forward = speed*Math.cos(Math.toRadians(R_SwerveModule.convertToRobot(direction, chassis_fieldAngle))),
 					 strafe  = speed*Math.sin(Math.toRadians(R_SwerveModule.convertToRobot(direction, chassis_fieldAngle)));
-		final double[] comps_desired = computeComponents(strafe, forward, speedSpin);
-		final boolean bad = speed == 0.0 && speedSpin == 0.0;
+		final double[] comps_desired = computeComponents(strafe, forward, spin);
+		final boolean bad = speed == 0.0 && spin == 0.0;
 
 		//{CONTROL MOTORS, computing outputs as needed}
 		if (!bad) {
@@ -105,6 +107,8 @@ public void holonomic_encoderIgnorant(final double direction, double speed, fina
 			final double[] speeds_final = computeSpeeds(comps_desired);
 			for (int i = 0; i < 4; i++) modules[i].set(speeds_final[i]);//control traction if good and there
 		}else stop();//otherwise, stop traction
+
+		if (spin < 0.07) moduleD.checkTractionEncoder();
 	}
 
 

src/org/usfirst/frc/team4256/robot/Robot.java

@@ -30,7 +30,6 @@
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.hal.PowerJNI;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 
@@ -97,8 +96,8 @@ public void robotInit() {
 		setupLogging(ds);
 
 		moduleA.setTareAngle(-78.0);moduleB.setTareAngle(-28.0);moduleC.setTareAngle(45.0);moduleD.setTareAngle(-77.0);
-
 		moduleA.setParentLogger(logger);moduleB.setParentLogger(logger);moduleC.setParentLogger(logger);moduleD.setParentLogger(logger);
+
 		elevatorOne.setZero(0.5);
 		elevatorTwo.setZero(1.0);
 		clamp.setZero();
@@ -178,8 +177,7 @@ public void robotPeriodic() {
 		faraday.getEntry("Angle B").setNumber(moduleB.rotationMotor().getCurrentAngle(true));
 		faraday.getEntry("Angle C").setNumber(moduleC.rotationMotor().getCurrentAngle(true));
 		faraday.getEntry("Angle D").setNumber(moduleD.rotationMotor().getCurrentAngle(true));
-
-		moduleD.checkTractionEncoder();
+
 		odometer.update();
 		faraday.getEntry("X").setNumber(odometer.getX(/*markAsRead*/false));
 		faraday.getEntry("Y").setNumber(odometer.getY(/*markAsRead*/false));