Setpoint generator

build.gradle

@@ -71,6 +71,9 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
     implementation 'com.github.shueja:Monologue:v1.0.0-beta6'
 }
 

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

@@ -38,7 +38,7 @@
 import frc.robot.commands.managers.PieceControl;
 import frc.robot.commands.managers.ShooterCmds;
 import frc.robot.leds.Strips.LedStrip;
-import frc.robot.leds.Commands.LPI;
+import frc.robot.leds.commands.LPI;
 import frc.robot.subsystems.*;
 import frc.robot.util.Constants.AutoConstants;
 import frc.robot.util.Constants.CameraConstants;

src/main/java/frc/robot/commands/drive/Drive.java

@@ -75,6 +75,8 @@ public void execute() {
             swerve.setWheelsX();
         }
         else {
+            Swerve.desiredChassisSpeeds = new ChassisSpeeds(x, y, rotation);
+
             swerve.drive(
                 x * DriveConstants.MAX_SPEED_METERS_PER_SECOND * driveMultiplier,
                 y * DriveConstants.MAX_SPEED_METERS_PER_SECOND * driveMultiplier,

src/main/java/frc/robot/leds/Commands/LPI.java

@@ -2,7 +2,7 @@
 // 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.leds.Commands;
+package frc.robot.leds.commands;
 
 import java.util.function.Supplier;