From b662fe69e996e92a525b17b74ff56dbb4ed89c5b Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Mon, 13 Mar 2023 21:50:21 -0700 Subject: [PATCH 1/2] [commands] RamseteCommand: add null check for m_prevSpeeds --- .../wpilibj2/command/RamseteCommand.java | 22 +++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java index 94f942fb093..0f4d86955ca 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java @@ -215,7 +215,25 @@ public boolean isFinished() { @Override public void initSendable(SendableBuilder builder) { super.initSendable(builder); - builder.addDoubleProperty("leftVelocity", () -> m_prevSpeeds.leftMetersPerSecond, null); - builder.addDoubleProperty("rightVelocity", () -> m_prevSpeeds.rightMetersPerSecond, null); + builder.addDoubleProperty( + "leftVelocity", + () -> { + if (m_prevSpeeds != null) { + return m_prevSpeeds.leftMetersPerSecond; + } else { + return 0; + } + }, + null); + builder.addDoubleProperty( + "rightVelocity", + () -> { + if (m_prevSpeeds != null) { + return m_prevSpeeds.rightMetersPerSecond; + } else { + return 0; + } + }, + null); } } From a41c2c15fcfd97b479bf5c7fae501a727b00dfcb Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Mon, 13 Mar 2023 22:23:09 -0700 Subject: [PATCH 2/2] Initialize variable instead --- .../wpilibj2/command/RamseteCommand.java | 24 +++---------------- 1 file changed, 3 insertions(+), 21 deletions(-) diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java index 0f4d86955ca..45ac09a9182 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java @@ -45,7 +45,7 @@ public class RamseteCommand extends CommandBase { private final PIDController m_leftController; private final PIDController m_rightController; private final BiConsumer m_output; - private DifferentialDriveWheelSpeeds m_prevSpeeds; + private DifferentialDriveWheelSpeeds m_prevSpeeds = new DifferentialDriveWheelSpeeds(); private double m_prevTime; /** @@ -215,25 +215,7 @@ public boolean isFinished() { @Override public void initSendable(SendableBuilder builder) { super.initSendable(builder); - builder.addDoubleProperty( - "leftVelocity", - () -> { - if (m_prevSpeeds != null) { - return m_prevSpeeds.leftMetersPerSecond; - } else { - return 0; - } - }, - null); - builder.addDoubleProperty( - "rightVelocity", - () -> { - if (m_prevSpeeds != null) { - return m_prevSpeeds.rightMetersPerSecond; - } else { - return 0; - } - }, - null); + builder.addDoubleProperty("leftVelocity", () -> m_prevSpeeds.leftMetersPerSecond, null); + builder.addDoubleProperty("rightVelocity", () -> m_prevSpeeds.rightMetersPerSecond, null); } }