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Team841 · Nov 20, 2024 · 39fde36 · 39fde36
1 parent 52644aa
commit 39fde36
Showing 1 changed file with 11 additions and 2 deletions.
diff --git a/src/main/java/com/team841/calliope/RobotContainer.java b/src/main/java/com/team841/calliope/RobotContainer.java
@@ -117,13 +117,22 @@ public RobotContainer() {
         this.sticksPS5[0] = new CommandPS5Controller(RC.Controllers.duoStickDrive);
         this.sticksXbox[0] = new CommandXboxController(RC.Controllers.duoStickCoDrive);
 
-        this.bioDrive = new BioDrive(
+        /*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());
 
+         */
+
+        this.bioDrive = new BioDrive(
+                this.drivetrain,
+                () -> -sticksXbox[0].getLeftY() * Swerve.MaxSpeed,
+                () -> -sticksXbox[0].getLeftX() * Swerve.MaxSpeed,
+                () -> -sticksXbox[0].getRightX() * Swerve.MaxAngularRate,
+                () -> sticksXbox[0].a().getAsBoolean());
+
         this.feedback = new Feedback(this.sticksXbox[0]);
 
         this.shootCommand = new Shoot(this.indexer, this.shooter);
@@ -140,7 +149,7 @@ public RobotContainer() {
 
         this.drivetrain.setDefaultCommand(bioDrive);
 
-        configureDuoStick();
+        configureSoloStick();
     }