Added slow mode (only tested in simulation)

Author: PhilBurt627

src/main/java/frc/robot/Constants.java

@@ -60,6 +60,13 @@ public static final class DriveConstants {
     public static final double wheelBase = Units.inchesToMeters(25.6);
     public static final double driveBaseRadius = Math.hypot(trackWidth / 2.0, wheelBase / 2.0);
 
+
+
+    //  Slow mode stuff
+    public static final double slowModeSpeedMultiplier = 0.3;
+
+
+
     // public static final double possibleBumperWidth = 0.57912 + Units.inchesToMeters(3); // 0.6553199999999999
     // public static final double possibleBumperLength = 0.65024 + Units.inchesToMeters(3); //  0.72644
 

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

@@ -191,6 +191,7 @@ private void competitionButtonBindings(){
             new LimelightAlignWithReef(drive, true)
         );
 
+
     }
 
 
@@ -359,7 +360,9 @@ private void configureDriveBindings() {
                 drive,
                 () -> -flightStick.getRawAxis(1),
                 () -> -flightStick.getRawAxis(0),
-                () -> -flightStick.getRawAxis(2)));
+                () -> -flightStick.getRawAxis(2),
+                () ->  flightStick.getRawButton(1))
+        );
 
 
 

src/main/java/frc/robot/commands/DriveCommands.java

@@ -34,6 +34,7 @@
 import java.text.NumberFormat;
 import java.util.LinkedList;
 import java.util.List;
+import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
@@ -71,7 +72,8 @@ public static Command joystickDrive(
       Drive drive,
       DoubleSupplier xSupplier,
       DoubleSupplier ySupplier,
-      DoubleSupplier omegaSupplier) {
+      DoubleSupplier omegaSupplier,
+      BooleanSupplier slowModeSupplier) {
 
     return Commands.run(
         () -> {
@@ -89,8 +91,8 @@ public static Command joystickDrive(
           // Convert to field relative speeds & send command
           ChassisSpeeds speeds =
               new ChassisSpeeds(
-                  linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
-                  linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
+                  linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec() * (slowModeSupplier.getAsBoolean() ? Constants.DriveConstants.slowModeSpeedMultiplier: 1.0),
+                  linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec() * (slowModeSupplier.getAsBoolean() ? Constants.DriveConstants.slowModeSpeedMultiplier: 1.0),
                   omega * drive.getMaxAngularSpeedRadPerSec());
           boolean isFlipped =
               DriverStation.getAlliance().isPresent()