Fix Drivetrain Instances

Author: sophiep29

.vscode/settings.json

@@ -59,5 +59,5 @@
   ],
   "java.dependency.enableDependencyCheckup": false,
   "java.debug.settings.onBuildFailureProceed": true,
-  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable"
 }

src/main/java/frc/robot/Robot.java

@@ -20,28 +20,28 @@
 import frc.robot.commands.DrivetrainCommand;
 import frc.robot.commands.FlywheelCommand;
 import frc.robot.commands.KickerCommand;
-import frc.robot.config.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Intake;
 
 @Logged
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
-  private final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
   // last time we injected a synthetic vision measurement (seconds, FPGA time)
   private double m_lastSimVisionTime = 0.0;
   // whether we've injected a one-time offset vision measurement for testing
   private boolean m_injectedOffset = false;
   private Pose2d robotPose = new Pose2d();
   private final RobotContainer m_robotContainer;
+  private final CommandSwerveDrivetrain drivetrain;
   StructPublisher<Pose2d> publisher =
       NetworkTableInstance.getDefault().getStructTopic("Robot Pose", Pose2d.struct).publish();
   StructArrayPublisher<Pose2d> arrayPublisher =
       NetworkTableInstance.getDefault().getStructArrayTopic("MyPoseArray", Pose2d.struct).publish();
 
   public Robot() {
     m_robotContainer = new RobotContainer();
+    drivetrain = m_robotContainer.getDrivetrain();
     Epilogue.bind(this);
     DataLogManager.start();
     DriverStation.startDataLog(DataLogManager.getLog());

src/main/java/frc/robot/RobotContainer.java

@@ -229,4 +229,8 @@ public static void zeroPigeon() {
     pigeon.reset();
     System.out.println("Reset Pigeon");
   }
+
+  public CommandSwerveDrivetrain getDrivetrain() {
+    return drivetrain;
+  }
 }