From 826cd70c6a9a89455a75e83e246b8b1d1084d209 Mon Sep 17 00:00:00 2001
From: ryanknj5 <140574269+ryanknj5@users.noreply.github.com>
Date: Sat, 5 Oct 2024 10:19:16 -0700
Subject: [PATCH] bug fix

---
 src/main/java/frc/robot/Robot.java | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 2ded123..270340b 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -14,12 +14,15 @@
 import frc.robot.generated.BuildConstants;
 import frc.robot.imu.ImuSubsystem;
 import frc.robot.intake.IntakeSubsystem;
+import frc.robot.localization.LocalizationSubsystem;
 import frc.robot.queuer.QueuerSubsystem;
 import frc.robot.robot_manager.RobotCommands;
+import frc.robot.robot_manager.RobotManager;
 import frc.robot.shooter.ShooterSubsystem;
 import frc.robot.swerve.SwerveSubsystem;
 import frc.robot.util.Stopwatch;
 import frc.robot.util.scheduling.LifecycleSubsystemManager;
+import frc.robot.vision.VisionSubsystem;
 
 public class Robot extends TimedRobot {
   private Command autonomousCommand;
@@ -35,8 +38,14 @@ public class Robot extends TimedRobot {
       new IntakeSubsystem(hardware.intakeMain, hardware.intakeCenteringMotor);
   private final SwerveSubsystem swerve = new SwerveSubsystem();
   private final ImuSubsystem imu = new ImuSubsystem(swerve.drivetrainPigeon);
+
+  private final VisionSubsystem vision = new VisionSubsystem(imu);
+  private final LocalizationSubsystem localization = new LocalizationSubsystem(imu, vision);
   private final Autos autos = new Autos();
-  private final RobotCommands robotCommands = new RobotCommands(null);
+  private final RobotManager robotManager =
+      new RobotManager(arm, shooter, localization, vision, imu, intake, queuer);
+
+  private final RobotCommands robotCommands = new RobotCommands(robotManager);
 
   public Robot() {
     System.out.println("roboRIO serial number: " + RobotConfig.SERIAL_NUMBER);