auto (not looked over)

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

@@ -68,14 +68,12 @@ public class SwerveDrive extends SubsystemBase {
 
   public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
     if (fieldRelative) {
-
       if (rightStick.getNorm() > 0.1) {
         rotTarget = new Rotation2d(rightStick.getX(), -rightStick.getY()).minus(new Rotation2d(0, 1));
       }
 
       double rot = rotTarget.minus(gyro.getRotation2d()).getRadians();
 
-
       // Use the left joystick to set speed. Apply a quadratic curve and the set max speed.
       Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
 
@@ -105,6 +103,13 @@ public class SwerveDrive extends SubsystemBase {
     }
   }
 
+  public void stopModules() {
+    leftFront.stop();
+    rightFront.stop();
+    leftBack.stop();
+    rightBack.stop();
+  }
+
   public double getGyroAngle() {
     return gyro.getAngle();
   }