From 2043dd87880df4b32e6950f948eff609bf6f76de Mon Sep 17 00:00:00 2001 From: shueja-personal Date: Thu, 6 Feb 2025 23:06:38 -0800 Subject: [PATCH 1/2] Make AutoTrajectory.cmd() not run if routine is inactive at initialize. --- choreolib/src/main/java/choreo/auto/AutoTrajectory.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/choreolib/src/main/java/choreo/auto/AutoTrajectory.java b/choreolib/src/main/java/choreo/auto/AutoTrajectory.java index b9a2884e84..cf39681022 100644 --- a/choreolib/src/main/java/choreo/auto/AutoTrajectory.java +++ b/choreolib/src/main/java/choreo/auto/AutoTrajectory.java @@ -222,7 +222,8 @@ public Command cmd() { this::cmdEnd, this::cmdIsFinished, driveSubsystem) - .withName("Trajectory_" + name); + .withName("Trajectory_" + name) + .onlyIf(routine.active()); } /** From 5340ae80b5c0617bdbc34ee17fe5374632ccf892 Mon Sep 17 00:00:00 2001 From: shueja-personal Date: Thu, 6 Feb 2025 23:24:10 -0800 Subject: [PATCH 2/2] Fix test --- choreolib/src/test/java/choreo/auto/DoneTest.java | 1 + 1 file changed, 1 insertion(+) diff --git a/choreolib/src/test/java/choreo/auto/DoneTest.java b/choreolib/src/test/java/choreo/auto/DoneTest.java index b44cd73688..30374b948c 100644 --- a/choreolib/src/test/java/choreo/auto/DoneTest.java +++ b/choreolib/src/test/java/choreo/auto/DoneTest.java @@ -68,6 +68,7 @@ public void testExecution() { assertFalse(recentlyDone); scheduler.schedule(routine.cmd()); + scheduler.run(); // requred to mark routine active scheduler.schedule(traj.cmd()); scheduler.run();