[Ken Streeter]

Originally Posted by kylelanman

We are currently using Preferences::GetInstance().Gettype("key", default) in the constructor of static instances of Subsystems.

We addressed this issue in our code by moving the calls to Preferences.getInstance().GetFoo() to not be in the constructors of our subsystems, but instead in an "init()" method for the subsystem. The "init()" method is called out of robotInit(), which is quite later in the startup sequence.

Below is our current robotInit() which shows the calls to init() in our subsystems that have some "late initialization" needs.

    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    	
      System.out.println("robotInit");
      SmartDashboard.putString("Auto Prog",  "Initializing...");
      
      DriverStation.reportError("About to construct Autonomous Subsystem... \n", false);      
	  autonomous = new Autonomous();
      DriverStation.reportError("Done constructing Autonomous Subsystem.\n", false);
      
      DriverStation.reportError("About to construct OI... \n", false);      
	  oi = new OI();
      DriverStation.reportError("Done constructing OI.\n", false);
      
      // initialize the subsystems that need it
      drive.init();
      elevator.init();
      
      // instantiate the command used for the autonomous period
      autonomousCommand = new RunAutonomous();
      DriverStation.reportError("Constructed auto command.\n", false);
      SmartDashboard.putString("Auto Prog",  "Done.");
      Autonomous.updateDashboard();
    }