Auton

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

@@ -4,6 +4,9 @@
 
 package frc.robot;
 
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
 
@@ -23,6 +26,7 @@
 import frc.robot.drivetrain.CommandSwerveDrivetrain;
 import frc.robot.drivetrain.TunerConstants;
 import frc.robot.operator.OperatorXbox;
+import frc.robot.RobotContainer.*;
 
 import static edu.wpi.first.units.Units.*;
 
@@ -119,6 +123,8 @@ public void autonomousInit() {
 
   }
 
+
+
   /**
    * This function is called periodically during autonomous.
    */
@@ -148,14 +154,7 @@ private Command runDrivetrain() {
 
   @Override
   public void autonomousPeriodic() {
-      // CommandSwerveDrivetrain.getInstance().applyRequest(() -> 
-      //   drive.withVelocityX(5.0 * kMaxVelocity)
-      //   .withVelocityY(0.0)
-      //   .withRotationalRate(0.0)
-      // );
-
-      // runDrivetrain();
-
+
   }
 
   @Override

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

@@ -17,20 +17,21 @@
 import frc.robot.subsystems.CoralSubsystem;
 import frc.robot.subsystems.ElevatorSubsystem;
 
+
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
  * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
  * subsystems, commands, and trigger mappings) should be declared here.
  */
 public class RobotContainer {
-    private final double kMaxVelocity = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
-    private final double kMaxAngularVelocity = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+    public static double kMaxVelocity = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+    public static double kMaxAngularVelocity = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
 
     public static boolean modeFast = true;
 
     /* Setting up bindings for necessary control of the swerve drive platform */
-    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+    public static SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
         .withDeadband(kMaxVelocity * 0.1)
         .withRotationalDeadband(kMaxAngularVelocity * 0.1) // Add a 10% deadband
         .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
@@ -41,14 +42,7 @@ public RobotContainer() {
         setDefaultCommands();
     }
 
-    // /**
-    //  * Use this to pass the autonomous command to the main {@link Robot} class.
-    //  *
-    //  * @return the command to run in autonomous
-    //  */
-    // public Command getAutonomousCommand() {
-    //     return mAutonChooser.getSelected();
-    // }
+
 
     public void setDefaultCommands() {
         final var driver = DriverXbox.getInstance();