Commits on Apr 16, 2022

1. Prevent color sensor calls when not needed. …

   This small change means the color sensor will only be called when the code asks instead of always.
   
   The code happens to always call the color sensor UNLESS the switch closest to the shooter is pressed.
   
   Hopefully this break in color sensor calls can fix the issue.
   
   In match 105 at DCMP, ColorSensorSubsystem.periodic was reported at taking 0.35s.
   
   Here is my detailed notes on what I found reading the driverstation logs:
   
   Loop overrun message, displays time of each subsystem/command:
   Match 68 -> All ColorSensorSubsystem.periodic were below 0.0025s
   Match 95 -> All ColorSensorSubsystem.periodic were below 0.0025s
   Match 105 Auto Period -> All ColorSensorSubsystem.periodic were below 0.0025s
   Match 105 Tele Period -> ALL ColorSensorSubsystem.periodic were ABOVE 0.35s
   The moment teleoperated started, ColorSensorSubsystem.periodic() was taking way too long to run.
   Motor safety was saying "hey, I haven't gotten a new percent output for the drivetrain motors in awhile I'm going to stop the motors from moving."
   
   Battery Voltage reported from the driver station, voltage was a flat line for over 20 seconds :
   Beginning of the match = 12.7 V
   End of the match = 12.3 V
   Number of reported brownouts = 7

   

   ErikCald committed Apr 16, 2022
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