Basic swerve stuff

Also separated arcade from swerve everywhere in the code.

src/main/java/frc4388/robot/subsystems/ArcadeDrive.java

@@ -13,14 +13,14 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.Constants.ArcadeDriveConstants;
 import frc4388.utility.RobotGyro;
 import frc4388.utility.RobotTime;
 
 /**
  * Add your docs here.
  */
-public class Drive extends SubsystemBase {
+public class ArcadeDrive extends SubsystemBase {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
@@ -36,7 +36,7 @@ public class Drive extends SubsystemBase {
   /**
    * Add your docs here.
    */
-  public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
+  public ArcadeDrive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
       WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
 
     m_leftFrontMotor = leftFrontMotor;
@@ -51,7 +51,7 @@ public class Drive extends SubsystemBase {
   public void periodic() {
     m_gyro.updatePigeonDeltas();
 
-    if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
+    if (m_robotTime.m_frameNumber % ArcadeDriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
       updateSmartDashboard();
     }
   }

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -1,3 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
+import frc4388.robot.Constants.SwerveDriveConstants;
+
 public class SwerveDrive
 {
     SwerveDriveKinematics m_kinematics;
@@ -17,8 +33,8 @@ public class SwerveDrive
 
     public void drive(double strafeX, double strafeY, double rotate)
     {
-        //https://jacobmisirian.gitbooks.io/frc-swerve-drive-programming/content/chapter1.html
-        var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.RotationSpeed /*in rad/s */);
+        //https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html 
+        var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED /*in rad/s */);
         // Convert to module states
         SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds);
 
@@ -35,9 +51,9 @@ public class SwerveDrive
         SwerveModuleState backRight = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(/*get encoder positions*/));
     }
 
-    public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
-    {
-        var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary, 
-            rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
-    }
+    // public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
+    // {
+    //     var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary, 
+    //         rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
+    // }
 }