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src/main/java/com/team841/calliope/RobotContainer.java

@@ -112,7 +112,6 @@ public RobotContainer() {
 
         registerNamedCommands();
 
-        /*
         this.sticksXbox = new CommandXboxController[1];
         this.sticksPS5 = new CommandPS5Controller[1];
         this.sticksXbox[0] = new CommandXboxController(RC.Controllers.soloStick);
@@ -124,24 +123,6 @@ public RobotContainer() {
                 () -> -sticksXbox[0].getRightX() * Swerve.MaxAngularRate,
                 () -> sticksXbox[0].a().getAsBoolean());
 
-         */
-
-
-
-        this.sticksPS5 = new CommandPS5Controller[1];
-        this.sticksXbox = new CommandXboxController[1];
-        this.sticksPS5[0] = new CommandPS5Controller(RC.Controllers.duoStickDrive);
-        this.sticksXbox[0] = new CommandXboxController(RC.Controllers.duoStickCoDrive);
-
-        this.bioDrive = new BioDrive(
-                this.drivetrain,
-                () -> -sticksPS5[0].getLeftY() * Swerve.MaxSpeed,
-                () -> -sticksPS5[0].getLeftX() * Swerve.MaxSpeed,
-                () -> -sticksPS5[0].getRightX() * Swerve.MaxAngularRate,
-                () -> sticksPS5[0].L2().getAsBoolean(),
-                () -> -sticksXbox[0].getLeftX());
-
-
 
         this.feedback = new Feedback(this.sticksXbox[0]);
 
@@ -159,8 +140,8 @@ public RobotContainer() {
 
         this.drivetrain.setDefaultCommand(bioDrive);
 
-        configureDuoStick();
-        //configureSoloStick();
+        //configureDuoStick();
+        configureSoloStick();
 
     }