fixed null pointer exception

SaintsRobotics · Feb 25, 2024 · 7ff9511 · 7ff9511
1 parent e6b8c51
commit 7ff9511
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -205,12 +205,16 @@ public void addVisionMeasurement(Measurement measurement) {
     m_poseEstimator.addVisionMeasurement(measurement.pose.toPose2d(), measurement.timestamp);
   }
 
+  public void autonDrive(ChassisSpeeds desiredChassisSpeeds) {
+    swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(desiredChassisSpeeds);
+  }
+
   /**
    * Sets the swerve ModuleStates. Overloaded for either auton builder or teleop.
    *
    * @param desiredStates The desired SwerveModule states.
    */
-  public void setModuleStates(SwerveModuleState[] desiredStates) {
+  private void setModuleStates(SwerveModuleState[] desiredStates) {
     SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, DriveConstants.kMaxSpeedMetersPerSecond);
 
     m_frontLeft.setDesiredState(desiredStates[0]);
@@ -233,8 +237,4 @@ public void setModuleStates(SwerveModuleState[] desiredStates) {
         * Robot.kDefaultPeriod;
   }
 
-  public void autonDrive(ChassisSpeeds desiredChassisSpeeds) {
-    swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(desiredChassisSpeeds);
-  }
-
 }
diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -4,6 +4,7 @@
 
 package frc.robot.subsystems;
 
+import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import java.util.function.Consumer;
@@ -56,7 +57,7 @@ public class VisionSubsystem extends SubsystemBase {
 
   private final IntegerSubscriber m_tv;
 
-  private List<Consumer<Measurement>> m_consumerList;
+  private List<Consumer<Measurement>> m_consumerList = new ArrayList<>(3);
 
   /** Creates a new Limelight. */
   public VisionSubsystem() {