From ef598ee7bf5eeec629c7456a7ef45424364b1403 Mon Sep 17 00:00:00 2001
From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com>
Date: Thu, 22 Feb 2024 17:59:22 -0700
Subject: [PATCH] Working on Rotation Orientation

---
 src/main/java/frc4388/robot/RobotContainer.java        | 10 ++++++----
 .../java/frc4388/robot/subsystems/SwerveDrive.java     |  4 ++--
 src/main/java/frc4388/utility/RobotGyro.java           |  2 +-
 3 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index ad3a927..261d33f 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -227,11 +227,13 @@ public class RobotContainer {
      * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
      */
     private void configureButtonBindings() {
-        /* Driver Buttons */
+
+        // ? /* Driver Buttons */
+
         new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
         
-        /* Auto Recording */
+        // ! /* Auto Recording */
         // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
         //    .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
         //                                    () -> getDeadbandedDriverController().getLeftX(),
@@ -258,7 +260,7 @@ public class RobotContainer {
         //    true, false))
         //    .onFalse(new InstantCommand());
 
-        // /* Speed */
+        // ! /* Speed */
        new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
              .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
           // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
@@ -268,7 +270,7 @@ public class RobotContainer {
         
         
         
-        /* Operator Buttons */
+       //?  /* Operator Buttons */
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index a96e593..cac8f93 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -95,10 +95,10 @@ public class  SwerveDrive extends SubsystemBase {
         orientRotTarget = rightStick.getAngle().minus(new Rotation2d(0, 1));
         rot = orientRotTarget.minus(gyro.getRotation2d()).getRadians();
       }
-
+    
     Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
 
-    chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
+    chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), -1 * rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d()).times(1);
     } else {      // Create robot-relative speeds.
       chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
     }
diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java
index 4d36404..22d4c72 100644
--- a/src/main/java/frc4388/utility/RobotGyro.java
+++ b/src/main/java/frc4388/utility/RobotGyro.java
@@ -99,7 +99,7 @@ public class RobotGyro implements Gyro {
         resetZeroValues();
 
         if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(0);
+            m_pigeon.setYaw(180);
         } else {
             m_navX.reset();
         }