might introduce latency

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 593d25232fcdd229f880450b3c9a7c01a919457f..dd7fbf5854bdd76cc8e6abb0d307564c7758cd9e 100644 (file)
--- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
@@ -201,21 +201,6 @@ public class Drivetrain extends SubsystemBase {
     @Override
     public void periodic() {
         odometryLock.lock(); // Prevents odometry updates while reading data
-        
-        java.util.List<BaseStatusSignal> signals = new java.util.ArrayList<>();
-        var gyroYawSignal = gyroIO.getYawSignal();
-        if (gyroYawSignal != null) {
-            signals.add(gyroYawSignal);
-        }
-        for (var module : modules) {
-            signals.add(module.getDrivePositionSignal());
-            signals.add(module.getTurnPositionSignal());
-            signals.add(module.getTurnAbsolutePositionSignal());
-        }
-        if (!signals.isEmpty()) {
-            BaseStatusSignal.waitForAll(0.1, signals.toArray(new BaseStatusSignal[0]));
-        }
-        
         gyroIO.updateInputs(gyroInputs);
         Logger.processInputs("Drive/Gyro", gyroInputs);
         for (var module : modules) {