Move AimLeadTime to being defined by ShooterConstants.

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

@@ -34,6 +34,7 @@ import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.intake.Intake;
 import frc4388.robot.subsystems.intake.Intake.IntakeMode;
 import frc4388.robot.subsystems.shooter.Shooter;
+import frc4388.robot.subsystems.shooter.ShooterConstants;
 import frc4388.robot.subsystems.swerve.SwerveDrive;
 import frc4388.robot.subsystems.vision.Vision;
 import frc4388.utility.DeferredBlock;
@@ -222,7 +223,9 @@ public class RobotContainer {
                 () -> {
                 m_robotSwerveDrive.driveFacingPosition(
                     getDeadbandedDriverController().getLeft(),
-                    FieldPositions.HUB_POSITION);
+                    FieldPositions.HUB_POSITION,
+                    ShooterConstants.AIM_LEAD_TIME.get()
+                    );
                 }, m_robotSwerveDrive)
             );
             // .onTrue(new InstantCommand(() -> {

src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java

@@ -24,6 +24,7 @@ public class    ShooterConstants {
     public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.1);
     public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.0);
 
+    public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
 
     // Shoot mode tolerances
     public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 0);

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

@@ -339,7 +339,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
 
 
     // Drive with the robot facing towards a specific position
-    public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos) {
+    public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos, double aimLeadTime) {
 
         // Get the current speed of the robot
         Translation2d robotSpeed = new Translation2d(
@@ -348,7 +348,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
         );
 
         // Calculate a point to aim ahead of the actual position.
-        Translation2d fieldPosLead = robotSpeed.times(SwerveDriveConstants.AIM_LEAD_TIME.get()).plus(fieldPos);
+        Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
 
         // Calculate the angle between the current position and the lead position
         Rotation2d ang = fieldPosLead.minus(getPose2d().getTranslation()).getAngle();

src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java

@@ -39,9 +39,6 @@ public final class SwerveDriveConstants {
     public static       double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
     public static       double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
 
-    // TODO: Replace with a constant
-    public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
-
     public static final double CORRECTION_MIN = 10;
     public static final double CORRECTION_MAX = 50;