From a6048afb5b5566b16a4847bcd225b5ea2bd35518 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sat, 22 Jan 2022 13:55:37 -0700
Subject: [PATCH] Update RobotContainer.java

---
 src/main/java/frc4388/robot/RobotContainer.java | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index b7542bc..09ebb98 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
-import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.FalconTester;
 import frc4388.robot.subsystems.LED;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
@@ -31,11 +31,11 @@ public class RobotContainer {
     private final RobotMap m_robotMap = new RobotMap();
 
     /* Subsystems */
-    private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
-            m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
 
     private final LED m_robotLED = new LED(m_robotMap.LEDController);
 
+    private final FalconTester m_falconTester = new FalconTester(m_robotMap.falconTestMotor);
+
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
     private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -48,9 +48,9 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(
-                new RunCommand(() -> m_robotDrive.driveWithInput(getDriverController().getLeftYAxis(),
-                        getDriverController().getRightXAxis()), m_robotDrive));
+        m_falconTester.setDefaultCommand(
+                new RunCommand(() -> m_falconTester.setMotorSpeed(0.1d * getDriverController().getLeftYAxis()),
+                 m_falconTester));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
     }
@@ -64,8 +64,8 @@ public class RobotContainer {
     private void configureButtonBindings() {
         /* Driver Buttons */
         // test command to spin the robot while pressing A on the driver controller
-        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-                .whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
+        // new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+        //         .whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
 
         /* Operator Buttons */
         // activates "Lit Mode"