Turn off a bunch of SmartDashboard printing - may have been taking too long & causing event loop to overrun.

Author: jasondickert

src/main/java/frc/robot/drive/Drivetrain.java

@@ -105,7 +105,7 @@ public Drivetrain() {
   public void periodic() {
     // Update the odometry in the periodic block
     updateOdometry();
-    map.addPose(m_odometry.getPoseMeters(), Timer.getFPGATimestamp());
+    // map.addPose(m_odometry.getPoseMeters(), Timer.getFPGATimestamp());
 
     SmartDashboard.putNumber("Heading", getHeading().getDegrees());
 
@@ -114,17 +114,16 @@ public void periodic() {
     SmartDashboard.putNumber("currentAngle", getPose().getRotation().getRadians());
     SmartDashboard.putNumber("targetPoseAngle", m_targetPose.getRotation().getRadians());
 
-    SmartDashboard.putNumber("Distance 0", modules[0].getDriveDistanceMeters());
-    SmartDashboard.putNumber("Distance 1", modules[1].getDriveDistanceMeters());
-    SmartDashboard.putNumber("Distance 2", modules[2].getDriveDistanceMeters());
-    SmartDashboard.putNumber("Distance 3", modules[3].getDriveDistanceMeters());
+    // SmartDashboard.putNumber("Distance 0", modules[0].getDriveDistanceMeters());
+    // SmartDashboard.putNumber("Distance 1", modules[1].getDriveDistanceMeters());
+    // SmartDashboard.putNumber("Distance 2", modules[2].getDriveDistanceMeters());
+    // SmartDashboard.putNumber("Distance 3", modules[3].getDriveDistanceMeters());
 
-    SmartDashboard.putNumber("Angle 0", modules[0].getTurnCANcoderAngle());
-    SmartDashboard.putNumber("Angle 1", modules[1].getTurnCANcoderAngle());
-    SmartDashboard.putNumber("Angle 2", modules[2].getTurnCANcoderAngle());
-    SmartDashboard.putNumber("Angle 3", modules[3].getTurnCANcoderAngle());
+    // SmartDashboard.putNumber("Angle 0", modules[0].getTurnCANcoderAngle());
+    // SmartDashboard.putNumber("Angle 1", modules[1].getTurnCANcoderAngle());
+    // SmartDashboard.putNumber("Angle 2", modules[2].getTurnCANcoderAngle());
+    // SmartDashboard.putNumber("Angle 3", modules[3].getTurnCANcoderAngle());
 
-    SmartDashboard.putNumber("Drive heading", getHeading().getDegrees());
   }
 
   public void updateOdometry() {

src/main/java/frc/robot/drive/commands/JoystickDrive.java

@@ -29,21 +29,21 @@ public JoystickDrive(Drivetrain subsystem, HelixJoysticks joysticks){
     @Override
     public double getX() {
         double xRaw = m_controller.getX();
-        SmartDashboard.putNumber("JoystickX",  xyJoyMap.calculateMappedVal(xRaw));
+//        SmartDashboard.putNumber("JoystickX",  xyJoyMap.calculateMappedVal(xRaw));
         return xyJoyMap.calculateMappedVal(xRaw);
     }
 
     @Override
     public double getY() {
         double yRaw = m_controller.getY();
-        SmartDashboard.putNumber("JoystickY",  xyJoyMap.calculateMappedVal(yRaw));
+//        SmartDashboard.putNumber("JoystickY",  xyJoyMap.calculateMappedVal(yRaw));
         return xyJoyMap.calculateMappedVal(yRaw);
     }
 
     @Override
     public double getTheta() {
         double thetaRaw = m_controller.getRotation();
-        SmartDashboard.putNumber("JoystickTheta",  xyJoyMap.calculateMappedVal(thetaRaw));
+//        SmartDashboard.putNumber("JoystickTheta",  xyJoyMap.calculateMappedVal(thetaRaw));
         return thetaJoyMap.calculateMappedVal(thetaRaw);
     }