[#502] made simpler test

src/main/java/frc/robot/RobotContainer.java

@@ -42,6 +42,7 @@
 import frc.robot.command.PointAtPoint;
 import frc.robot.command.PointAtTag;
 import frc.robot.command.SetPointClimb;
+import frc.robot.command.SimpleFacingTest;
 import frc.robot.command.Sing;
 import frc.robot.command.SmartClimb;
 import frc.robot.command.SmartCollect;
@@ -238,7 +239,10 @@ protected void configureButtonBindings() {
         //         .whileTrue(new PointAtPoint(DrivetrainConstants.SPEAKER_POSE, drivetrain, driver));
         // new Trigger(driver::getLeftBumper)
         //         .whileTrue(new ComboPoint(DrivetrainConstants.SPEAKER_POSE, drivetrain, driver, limelights));
-		new Trigger(driver::getLeftBumper).whileTrue(new FacingTest(DrivetrainConstants.SPEAKER_POSE, drivetrain, driver));
+
+		// new Trigger(driver::getLeftBumper).whileTrue(new FacingTest(DrivetrainConstants.SPEAKER_POSE, drivetrain, driver)); //TODO: delete
+
+                new Trigger(driver::getLeftBumper).whileTrue(new SimpleFacingTest(drivetrain, driver));
 
         // new Trigger(driver::getYButton)
         // .whileTrue(new MoveToPose(AutonomousConstants.TARGET_POSE, drivetrain));

src/main/java/frc/robot/command/SimpleFacingTest.java

@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Swerve;
+
+public class SimpleFacingTest extends Command {
+  /** Creates a new SimpleFacingTest. */
+
+  private Swerve drivetrain;
+  private XboxController driver;
+  private Rotation2d targetHeading;
+
+  public SimpleFacingTest(Swerve drivetrain, XboxController driver) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.drivetrain = drivetrain;
+    this.driver = driver;
+    addRequirements(drivetrain);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    targetHeading = new Rotation2d(0d);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    drivetrain.setFieldFacing(-driver.getLeftY(), -driver.getLeftX(), targetHeading);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}