changed CAN IDs in code (im geekin)

src/main/java/frc4388/robot/Constants.java

@@ -36,13 +36,13 @@ public final class Constants {
         public static final double TURBO_SPEED = 4.0;
     
         public static final class IDs {
-          public static final int LEFT_FRONT_WHEEL_ID = 2;
+          public static final int LEFT_FRONT_WHEEL_ID = 4;
-          public static final int LEFT_FRONT_STEER_ID = 3;
+          public static final int LEFT_FRONT_STEER_ID = 5;
-          public static final int LEFT_FRONT_ENCODER_ID = 10;
+          public static final int LEFT_FRONT_ENCODER_ID = 11;
     
-          public static final int RIGHT_FRONT_WHEEL_ID = 4;
+          public static final int RIGHT_FRONT_WHEEL_ID = 2;
-          public static final int RIGHT_FRONT_STEER_ID = 5;
+          public static final int RIGHT_FRONT_STEER_ID = 3;
-          public static final int RIGHT_FRONT_ENCODER_ID = 11;
+          public static final int RIGHT_FRONT_ENCODER_ID = 10;
     
           public static final int LEFT_BACK_WHEEL_ID = 6;
           public static final int LEFT_BACK_STEER_ID = 7;

src/main/java/frc4388/robot/RobotContainer.java

@@ -55,6 +55,11 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
+        m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
+            m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
+                                              getDeadbandedDriverController().getRight(),
+                                true);
+        }));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
     }
@@ -67,25 +72,11 @@ public class RobotContainer {
      */
     private void configureButtonBindings() {
         /* Driver Buttons */
-        // test command to spin the robot while pressing A on the driver controller
+        
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
-        //     .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
-        //                                     () -> getDeadbandedDriverController().getLeftX(),
-        //                                     () -> getDeadbandedDriverController().getLeftY(),
-        //                                     () -> getDeadbandedDriverController().getRightX(),
-        //                                     () -> getDeadbandedDriverController().getRightY(),
-        //                                     "Blue1Path.txt"))
-        //     .onFalse(new InstantCommand());
-
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
-        //     .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
-        //     .onFalse(new InstantCommand()); 
 
         /* Operator Buttons */
         // activates "Lit Mode"
-        // new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
+        
-        //         .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
-        //         .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
     }
 
     /**

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

@@ -1,85 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* 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 com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
-
-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.utility.RobotGyro;
-import frc4388.utility.RobotTime;
-
-/**
- * Add your docs here.
- */
-public class DiffDrive extends SubsystemBase {
-  // Put methods for controlling this subsystem
-  // here. Call these from Commands.
-
-  private RobotTime m_robotTime = RobotTime.getInstance();
-
-  private WPI_TalonFX m_leftFrontMotor;
-  private WPI_TalonFX m_rightFrontMotor;
-  private WPI_TalonFX m_leftBackMotor;
-  private WPI_TalonFX m_rightBackMotor;
-  private DifferentialDrive m_driveTrain;
-  private RobotGyro m_gyro;
-
-  /**
-   * Add your docs here.
-   */
-  public DiffDrive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
-      WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
-
-    m_leftFrontMotor = leftFrontMotor;
-    m_rightFrontMotor = rightFrontMotor;
-    m_leftBackMotor = leftBackMotor;
-    m_rightBackMotor = rightBackMotor;
-    m_driveTrain = driveTrain;
-    m_gyro = gyro;
-  }
-
-  @Override
-  public void periodic() {
-    m_gyro.updatePigeonDeltas();
-
-    if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
-      updateSmartDashboard();
-    }
-  }
-
-  /**
-   * Add your docs here.
-   */
-  public void driveWithInput(double move, double steer) {
-    m_driveTrain.arcadeDrive(move, steer);
-  }
-
-  /**
-   * Add your docs here.
-   */
-  public void tankDriveWithInput(double leftMove, double rightMove) {
-    m_leftFrontMotor.set(leftMove);
-    m_rightFrontMotor.set(rightMove);
-  }
-
-  /**
-   * Add your docs here.
-   */
-  private void updateSmartDashboard() {
-
-    // Examples of the functionality of RobotGyro
-    SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
-    SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
-    SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
-    //SmartDashboard.putData(m_gyro);
-  }
-}

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

@@ -14,7 +14,7 @@ import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.RobotGyro;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
-public class SwerveDrive extends SubsystemBase {
+public class  SwerveDrive extends SubsystemBase {
   
   private SwerveModule leftFront;
   private SwerveModule rightFront;