Add bulk input read null check (acmerobotics#12)

Epsilon10 · Nov 27, 2018 · 696df83 · 696df83
1 parent 1df4b41
commit 696df83
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diff --git a/...de/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDriveREVOptimized.java b/...de/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDriveREVOptimized.java
@@ -82,6 +82,11 @@ public void setPIDCoefficients(DcMotor.RunMode runMode, PIDCoefficients coeffici
     @Override
     public List<Double> getWheelPositions() {
         RevBulkData bulkData = hub.getBulkInputData();
+
+        if (bulkData == null) {
+            return Arrays.asList(0.0, 0.0, 0.0, 0.0);
+        }
+
         List<Double> wheelPositions = new ArrayList<>();
         for (ExpansionHubMotor motor : motors) {
             wheelPositions.add(DriveConstants.encoderTicksToInches(bulkData.getMotorCurrentPosition(motor)));

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDriveREVOptimized.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDriveREVOptimized.java
@@ -85,6 +85,11 @@ public void setPIDCoefficients(DcMotor.RunMode runMode, PIDCoefficients coeffici
     public List<Double> getWheelPositions() {
         double leftSum = 0, rightSum = 0;
         RevBulkData bulkData = hub.getBulkInputData();
+
+        if (bulkData == null) {
+            return Arrays.asList(0.0, 0.0);
+        }
+
         for (DcMotorEx leftMotor : leftMotors) {
             leftSum += DriveConstants.encoderTicksToInches(bulkData.getMotorCurrentPosition(leftMotor));
         }