Don't interrupt ourselves in auto (#385)

Team488 · Mar 26, 2023 · 9fad931 · 9fad931
1 parent 8156ac5
commit 9fad931
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/main/java/xbot/common/command/BaseMaintainerCommand.java b/src/main/java/xbot/common/command/BaseMaintainerCommand.java
@@ -1,5 +1,6 @@
 package xbot.common.command;
 
+import edu.wpi.first.wpilibj.DriverStation;
 import xbot.common.logic.HumanVsMachineDecider;
 import xbot.common.logic.HumanVsMachineDecider.HumanVsMachineDeciderFactory;
 import xbot.common.logic.HumanVsMachineDecider.HumanVsMachineMode;
@@ -101,7 +102,7 @@ protected void initializeMachineControlAction() {
         // we can't require and then un-require a subsystem, so instead we just cancel
         // any running command that
         // is trying to maniuplate the setpoint.
-        if (subsystemToMaintan.getSetpointLock().getCurrentCommand() != null) {
+        if (subsystemToMaintan.getSetpointLock().getCurrentCommand() != null && !DriverStation.isAutonomous()) {
             subsystemToMaintan.getSetpointLock().getCurrentCommand().cancel();
         }