add robot drive commands

Author: Owen756

src/main/java/frc/robot/Robot.java

@@ -2,6 +2,7 @@
 
 import dev.doglog.DogLog;
 import dev.doglog.DogLogOptions;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -31,7 +32,7 @@ public class Robot extends TimedRobot {
   private final ArmSubsystem arm = new ArmSubsystem(hardware.armLeft, hardware.armRight);
   private final IntakeSubsystem intake =
       new IntakeSubsystem(hardware.intakeMain, hardware.intakeCenteringMotor);
-  private final SwerveSubsystem swerve = new SwerveSubsystem(hardware.driverController);
+  private final SwerveSubsystem swerve = new SwerveSubsystem();
   private final ImuSubsystem imu = new ImuSubsystem(swerve.drivetrainPigeon);
   private final Autos autos = new Autos();
   private final RobotCommands robotCommands = new RobotCommands(null);
@@ -131,7 +132,11 @@ public void testPeriodic() {}
   public void testExit() {}
 
   private void configureBindings() {
-    // TODO: Swerve button bindings
+    swerve.setDefaultCommand(swerve.run(() -> {
+      if (DriverStation.isTeleop()) {
+        swerve.driveTeleop(hardware.driverController.getLeftX(),hardware.driverController.getLeftY() , hardware.driverController.getRightX());
+      }
+    }));
 
     hardware
         .driverController

src/main/java/frc/robot/swerve/SwerveSubsystem.java

@@ -52,8 +52,6 @@ public class SwerveSubsystem extends StateMachine<SwerveState> {
   public static final SwerveDriveKinematics KINEMATICS =
       new SwerveDriveKinematics(MODULE_LOCATIONS);
 
-  private final CommandXboxController controller;
-
   private final CommandSwerveDrivetrain drivetrain = new CommandSwerveDrivetrain();
 
   public final Pigeon2 drivetrainPigeon = drivetrain.getPigeon2();
@@ -110,9 +108,8 @@ public void setSnapToAngle(double angle) {
     goalSnapAngle = angle;
   }
 
-  public SwerveSubsystem(CommandXboxController driveController) {
+  public SwerveSubsystem() {
     super(SubsystemPriority.SWERVE, SwerveState.TELEOP);
-    this.controller = driveController;
   }
 
   public void setFieldRelativeAutoSpeeds(ChassisSpeeds speeds) {
@@ -124,13 +121,13 @@ public void driveTeleop(double x, double y, double theta) {
     double leftY =
         -1.0
             * ControllerHelpers.getExponent(
-                ControllerHelpers.getDeadbanded(controller.getLeftY(), leftYDeadband), 1.5);
+                ControllerHelpers.getDeadbanded(x, leftYDeadband), 1.5);
     double leftX =
         ControllerHelpers.getExponent(
-            ControllerHelpers.getDeadbanded(controller.getLeftX(), leftXDeadband), 1.5);
+            ControllerHelpers.getDeadbanded(y, leftXDeadband), 1.5);
     double rightX =
         ControllerHelpers.getExponent(
-            ControllerHelpers.getDeadbanded(controller.getRightX(), rightXDeadband), 2);
+            ControllerHelpers.getDeadbanded(theta, rightXDeadband), 2);
 
     if (RobotConfig.get().swerve().invertRotation()) {
       rightX *= -1.0;