enabled checker for alignment

robototes · Apr 2, 2024 · b1e0732 · b1e0732
1 parent 1563ec8
commit b1e0732
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/src/main/java/frc/team2412/robot/Robot.java b/src/main/java/frc/team2412/robot/Robot.java
@@ -1,5 +1,6 @@
 package frc.team2412.robot;
 
+import static frc.team2412.robot.Subsystems.SubsystemConstants.APRILTAGS_ENABLED;
 import static frc.team2412.robot.Subsystems.SubsystemConstants.DRIVEBASE_ENABLED;
 
 import com.ctre.phoenix6.SignalLogger;
@@ -95,7 +96,9 @@ public void robotInit() {
 		if (Subsystems.SubsystemConstants.DRIVEBASE_ENABLED) {
 			if (autoEnabled) {
 				AutoLogic.initShuffleboard();
-				AutoAlignment.initShuffleboard();
+				if (APRILTAGS_ENABLED) {
+					AutoAlignment.initShuffleboard();
+				}
 			}
 		}
 
@@ -193,7 +196,7 @@ public void disabledInit() {
 
 	@Override
 	public void disabledPeriodic() {
-		if (DRIVEBASE_ENABLED) {
+		if (DRIVEBASE_ENABLED && APRILTAGS_ENABLED && autoEnabled) {
 			AutoAlignment.updateField();
 		}
 	}