From 9abce8eb0634cd05faf558990cee90e3a2a606cc Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sun, 29 Dec 2019 21:28:38 -0600
Subject: [PATCH] Fix subsystem LiveWindow usage (#2202)

---
 .../main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java | 1 -
 .../src/main/native/cpp/frc2/command/SubsystemBase.cpp          | 1 -
 .../src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java  | 2 --
 wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp    | 2 --
 4 files changed, 6 deletions(-)

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
index 9ae8ae2553..e22a5c4b48 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
@@ -76,7 +76,6 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
    */
   public void addChild(String name, Sendable child) {
     SendableRegistry.addLW(child, getSubsystem(), name);
-    SendableRegistry.addChild(this, child);
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
index 5e5ecbfe33..9b30fec66f 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
@@ -63,5 +63,4 @@ void SubsystemBase::SetSubsystem(const wpi::Twine& name) {
 void SubsystemBase::AddChild(std::string name, frc::Sendable* child) {
   auto& registry = frc::SendableRegistry::GetInstance();
   registry.AddLW(child, GetSubsystem(), name);
-  registry.AddChild(this, child);
 }
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
index 3c2858f65f..ac1107be2d 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
@@ -184,7 +184,6 @@ public abstract class Subsystem implements Sendable, AutoCloseable {
    */
   public void addChild(String name, Sendable child) {
     SendableRegistry.addLW(child, getSubsystem(), name);
-    SendableRegistry.addChild(this, child);
   }
 
   /**
@@ -195,7 +194,6 @@ public abstract class Subsystem implements Sendable, AutoCloseable {
   public void addChild(Sendable child) {
     SendableRegistry.setSubsystem(child, getSubsystem());
     SendableRegistry.enableLiveWindow(child);
-    SendableRegistry.addChild(this, child);
   }
 
   /**
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp b/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
index 6e665ea7d8..3178455420 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
@@ -101,7 +101,6 @@ void Subsystem::AddChild(const wpi::Twine& name, Sendable* child) {
 void Subsystem::AddChild(const wpi::Twine& name, Sendable& child) {
   auto& registry = SendableRegistry::GetInstance();
   registry.AddLW(&child, registry.GetSubsystem(this), name);
-  registry.AddChild(this, &child);
 }
 
 void Subsystem::AddChild(std::shared_ptr<Sendable> child) { AddChild(*child); }
@@ -112,7 +111,6 @@ void Subsystem::AddChild(Sendable& child) {
   auto& registry = SendableRegistry::GetInstance();
   registry.SetSubsystem(&child, registry.GetSubsystem(this));
   registry.EnableLiveWindow(&child);
-  registry.AddChild(this, &child);
 }
 
 void Subsystem::ConfirmCommand() {