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fix yb #110

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fix yb #110

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10 changes: 9 additions & 1 deletion src/main/java/frc/robot/subsystems/drive/Drive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.Volts;

import java.util.Set;
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import java.util.function.BiFunction;
Expand Down Expand Up @@ -60,6 +61,7 @@
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.Constants;
Expand Down Expand Up @@ -361,7 +363,13 @@ public Command resetGyroCmd(Rotation2d rotation) {
}

public Command resetGyroCmd() {
return resetGyroCmd(DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue ? Rotation2d.kZero : Rotation2d.fromDegrees(180.0));
return Commands.defer(() -> {
Rotation2d rotation = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue
? Rotation2d.kZero
: Rotation2d.fromDegrees(180.0);
return resetGyroCmd(rotation);
}, Set.of(this));

}

public Command stopWithXCmd() {
Expand Down
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