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Reordered burn flashing and encoder syncing. Now it will completely finish doing the encoder syncing and then call burn flash on the sparkmaxes. Seems calling burnFlash on the sparkmax was holding up the sparkmax while the encoder syncing was trying to be done.
ErikCald
changed the title
Reducing speed for outreaches mainly.
Basically copy pasted the pose buffer from SwerveDrivePoseEstimator into our subsystem. This means our vision can use the odometry pose from when the image was taken. Doing this is effectively latency compensation for vision/swerve integration
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Reordered burn flashing and encoder syncing. Now it will completely finish doing the encoder syncing and then call burn flash on the sparkmaxes.
It seems that calling burnFlash on the sparkmax was holding up the sparkmax while the encoder syncing was trying to be done. So now burnFlash runs after all the initial setup at bootup is complete.
I rebooted many times to verify this fixed the issue.