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cleaned up deprecations #103

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Merged
BrodyKarr merged 1 commit into from
Jul 18, 2026
Merged

cleaned up deprecations #103

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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ public void disabledExit() {
LimelightHelpers.SetThrottle(ConstVision.LIMELIGHT_LEFT_NAME, ConstVision.TeleopThrottle);
LimelightHelpers.SetThrottle(ConstVision.LIMELIGHT_BACK_NAME, ConstVision.TeleopThrottle);
m_robotContainer.visionInstance.setIMUAssistMode(true);
m_robotContainer.addVisionMeasurement().schedule();
CommandScheduler.getInstance().schedule(m_robotContainer.addVisionMeasurement());
}

@Override
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7 changes: 3 additions & 4 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -142,10 +142,9 @@ public void configAutonomous() {
{
ChoreoTraj startingPose = autoStartingPoses.get(selectedAuto);
// if there is a starting pose, reset to it
if (startingPose != null) {
autoFactory.resetOdometry(startingPose.name())
.ignoringDisable(true) // Run even when disabled
.schedule();
if (startingPose != null) { // Run even when disabled
CommandScheduler.getInstance().schedule(autoFactory.resetOdometry(startingPose.name())
.ignoringDisable(true));// Run even when disabled
}
});

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