pit branch

Author: GreenTomato5

src/main/java/frc/robot/AutoManager/AutoCommands.java

@@ -1,5 +1,8 @@
 package frc.robot;
 
+import java.util.ArrayList;
+import java.util.Arrays;
+
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.XboxController;
 
@@ -14,12 +17,17 @@ public enum RobotMode {
 
 	public static final double SIMULATION_PERIOD = 0.02;
 
-	public static final RobotMode ROBOT_MODE = RobotBase.isReal() ? RobotMode.SIM : RobotMode.REAL;
+	public static final RobotMode ROBOT_MODE = RobotBase.isReal() ? RobotMode.REAL : RobotMode.SIM;
 
 
 	public static final class Controllers {
 
 		public static final XboxController DRIVER_CONTROLLER = new XboxController(0);
 		public static final XboxController OPERATOR_CONTROLLER = new XboxController(1);
 	}
+
+	public static class FaultManagerConstants {
+
+		public static final ArrayList<Integer> CAN_DEVICE_ORDER = new ArrayList<Integer>(Arrays.asList( 2, 10, 35, 1, 7, 33, 11, 8));
+	}
 }

src/main/java/frc/robot/AutoManager/AutoManager.java

@@ -11,13 +11,15 @@
 import frc.robot.Subsystems.Climber.Climber;
 import frc.robot.Subsystems.Drive.Drive;
 import frc.robot.Subsystems.Drive.DriveStates;
+import frc.robot.Subsystems.FaultManager.FaultManager;
 
 public class Manager extends Subsystem<ManagerStates> {
 
 	// private Climber climber;
 	private AlgaeCoraler algaeCoraler;
 	private Drive drive;
 	private static Manager instance; 
+	private FaultManager faultManager = FaultManager.getInstance();
 
 	public static Manager getInstance() {
 		if (instance == null) {
@@ -26,6 +28,7 @@ public static Manager getInstance() {
 		return instance;
 	}
 
+
 	public Manager() {
 		super("Manager", ManagerStates.IDLE);
 
@@ -73,6 +76,7 @@ public void runState() {
 		// climber.setState(getState().getClimber());
 		algaeCoraler.setState(getState().getAlgaeCoraler());
 		drive.periodic();
+		faultManager.periodic();
 
 		// climber.periodic();
 		algaeCoraler.periodic();

src/main/java/frc/robot/GlobalConstants.java

@@ -16,18 +16,20 @@
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc.robot.AutoManager.AutoManager;
+import frc.robot.GlobalConstants.FaultManagerConstants;
 import frc.robot.Manager.Manager;
 import frc.robot.Subsystems.Drive.Drive;
+import frc.robot.Subsystems.FaultManager.FaultManager;
 import frc.robot.Subsystems.Vision.Vision;
 import frc.robot.Utilitys.Utilitys;
+import frc.robot.GlobalConstants.FaultManagerConstants;
 
 public class Robot extends LoggedRobot {
 
 	private Manager manager;
-	private AutoManager autoManager; 
 	private Drive drive; 
 	private Vision vision; 
+	private FaultManager faultManager = FaultManager.getInstance();
 
 	public Robot() {}
 
@@ -46,11 +48,12 @@ public void robotInit() {
 			case REPLAY:
 				Logger.addDataReceiver(new NT4Publisher());
 				break;
+
 		}
 
 		manager = Manager.getInstance();
-		autoManager = new AutoManager(); 
 		vision = Vision.getInstance();  
+		FaultManager.getInstance().calibrateDeviceOrder(FaultManagerConstants.CAN_DEVICE_ORDER, "Main CAN");
 
 		Logger.start();
 		PathfindingCommand.warmupCommand().schedule();
@@ -71,7 +74,6 @@ public void robotPeriodic() {
 	@Override
 	public void autonomousInit() {
 		Drive.getInstance().zeroGyro();
-		CommandScheduler.getInstance().schedule(autoManager.getSelectedCommand());
 	}
 
 	@Override