x /= i^2

src/main/java/frc4388/utility/TimesNegativeOne.java

@@ -0,0 +1,46 @@
+package frc4388.utility;
+
+import java.util.Optional;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import frc4388.robot.Constants.SwerveDriveConstants;
+
+// Class that holds weather the drivers sticks should be inverted
+public class TimesNegativeOne {
+
+    public static boolean XAxis = SwerveDriveConstants.INVERT_X;
+    public static boolean YAxis = SwerveDriveConstants.INVERT_Y;
+    public static boolean RotAxis = SwerveDriveConstants.INVERT_ROTATION;
+    public static boolean isRed = false;
+
+    private static boolean isRed() {
+        Optional<Alliance> alliance = DriverStation.getAlliance();
+        if(alliance.isEmpty()) return false;
+        return (alliance.get() == Alliance.Red);
+    }
+
+    public static void update(){
+        isRed = isRed();
+        XAxis = SwerveDriveConstants.INVERT_X ^ isRed;
+        YAxis = SwerveDriveConstants.INVERT_Y ^ isRed;
+        RotAxis = SwerveDriveConstants.INVERT_ROTATION;
+    }
+
+    public static double invert(double num, boolean invert){
+        return invert ? -num : num;
+    }
+
+    public static Translation2d invert(Translation2d stick, boolean invertXY){
+        if(invertXY) return stick.times(-1);
+        else return stick;
+    }
+
+    public static Translation2d invert(Translation2d stick, boolean invertX, boolean invertY){
+        return new Translation2d(
+            invert(stick.getX(), invertX), 
+            invert(stick.getY(), invertY)
+        );
+    }
+}