Make code work

Update basic functions for apriltags and outline for integration

src/main/java/frc4388/robot/commands/DriveWithInput.java

@@ -0,0 +1,75 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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 frc4388.robot.commands;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.filter.SlewRateLimiter;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.robot.subsystems.SwerveDrive;
+
+public class DriveWithInput extends CommandBase {
+
+  private final SwerveDrive swerve;
+
+  private final Supplier<Double> xSpeed;
+  private final Supplier<Double> ySpeed;
+  private final Supplier<Double> rot;
+  private final boolean fieldRelative;
+
+  private final SlewRateLimiter xLimiter, yLimiter, rotLimiter;
+
+  /** Creates a new DriveWithInput. */
+  public DriveWithInput(SwerveDrive swerve, Supplier<Double> xSpeed, Supplier<Double> ySpeed, Supplier<Double> rot, boolean fieldRelative) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.swerve = swerve;
+    this.xSpeed = xSpeed;
+    this.ySpeed = ySpeed;
+    this.rot = rot;
+    this.fieldRelative = fieldRelative;
+
+    this.xLimiter = new SlewRateLimiter(3);
+    this.yLimiter = new SlewRateLimiter(3);
+    this.rotLimiter = new SlewRateLimiter(3);
+
+    addRequirements(swerve);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double x = xSpeed.get();
+    double y = ySpeed.get();
+    double r = rot.get();
+
+    x = -xLimiter.calculate(MathUtil.applyDeadband(x * -0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+    y = -yLimiter.calculate(MathUtil.applyDeadband(y * 0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+    r = -rotLimiter.calculate(MathUtil.applyDeadband(r * 0.3, 0.02) * Units.feetToMeters(5*Math.PI));
+  
+    swerve.drive(x, y, r, fieldRelative);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    System.out.println("----------------------------------------------------------------");
+    System.out.println("DriveWithInput ended");
+    System.out.println("Interrupted: " + interrupted);
+    System.out.println("----------------------------------------------------------------");
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}