Merge pull request #2 from DeepBlueRobotics/gradle-update

Update GradleRIO to 2021.1.1-beta-4
DeepBlueRobotics · Dec 21, 2020 · 3b6e41d · 3b6e41d
2 parents 97a7fa0 + 52e83da
commit 3b6e41d
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Showing 3 changed files with 4 additions and 68 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "java-library"
     id "org.carlmontrobotics.webots" version "0.8"
-    id "edu.wpi.first.GradleRIO" version "2021.1.1-beta-2"
+    id "edu.wpi.first.GradleRIO" version "2021.1.1-beta-4"
 }
 
 group 'org.carlmontrobotics'

diff --git a/src/main/java/frc/robot/lib/sim/SimRegisterer.java b/src/main/java/frc/robot/lib/sim/SimRegisterer.java
@@ -59,11 +59,12 @@ private static void callback(String deviceName, int deviceHandle) {
             // Create a WebotsMotorForwarder for this motor
             final WebotsMotorForwarder fwdr = new WebotsMotorForwarder(Simulation.robot, deviceName);
             // Register a callback for when the Motor Output changes
-            SimUtils.registerValueChangedCallback(new SimDeviceSim(deviceName), "Motor Output",
+            SimDeviceSim motor = new SimDeviceSim(deviceName);
+            callbacks.add(motor.registerValueChangedCallback(motor.getValue("Motor Output"),
                 // Call the callback function
                 (name, handle, readonly, value) -> fwdr.callback(name, value),
                 // Initalize with current speed
-                true);
+                true));
         }
         if(deviceName.startsWith("navX")) {
             // If a navX is registered, try to link its SimDevice to the Webots robot

diff --git a/src/main/java/frc/robot/lib/sim/SimUtils.java b/src/main/java/frc/robot/lib/sim/SimUtils.java