From b069f2f48b6e1242499b5148ddd4ea6a5b614a1f Mon Sep 17 00:00:00 2001
From: Shaun <67600586+Fruggg@users.noreply.github.com>
Date: Fri, 15 Mar 2024 12:00:49 -0400
Subject: [PATCH] Fixed Drivetrain

---
 src/main/java/frc/robot/Robot.java          |  3 ++-
 src/main/java/frc/robot/RobotContainer.java | 16 +++++++++-------
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 6a41b62..1814a8f 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -23,7 +23,8 @@ public class Robot extends TimedRobot {
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
-    SignalLogger.setPath("/media/sda1/");
+    //DO NOT LEAVE THIS UNCOMMENTED DURING COMPETITION
+    // SignalLogger.setPath("/media/sda1/");
     // SignalLogger.start();
     CameraServer.startAutomaticCapture();
     // Creates the CvSink and connects it to the UsbCamera
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a4aa187..008f84d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -77,9 +77,9 @@ public class RobotContainer {
   };
 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
-      .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
-      .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric
-                                                               // driving in open loop
+  .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+  .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric
+                                                           // driving in open loop
   private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
   private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
   private final Telemetry logger = new Telemetry(MaxSpeed);
@@ -137,11 +137,13 @@ private void configureBindings() {
             .withRotationalRate(-m_driverController.getRightX() * MaxAngularRate) // Drive counterclockwise with
                                                                                   // negative X (left)
         ;
-    drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
+        drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
         // Drive forward with negative Y (forward)
-
-        drivetrain.applyRequest(() -> driveRequest));
-
+        drivetrain.applyRequest(() -> drive.withVelocityX(-m_driverController.getLeftY() * MaxSpeed)
+            .withVelocityY(-m_driverController.getLeftX() * MaxSpeed) // Drive left with negative X (left)
+            .withRotationalRate(-m_driverController.getRightX() * MaxAngularRate) // Drive counterclockwise with
+                                                                                  // negative X (left)
+        ));
     // m_driverController.a().whileTrue(drivetrain.applyRequest(() -> brake));
     /*
      * m_driverController.b().whileTrue(drivetrain