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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;
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import java.io.File;
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import java.io.IOException;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import swervelib.SwerveDrive;
import swervelib.parser.SwerveParser;
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public class Drive extends SubsystemBase {
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SwerveDrive swerveDrive;
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File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
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public void drive(double x, double y, double zRotation){
swerveDrive.drive(new Translation2d(x, y), zRotation, true, true);
}
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/** Creates a new Drive. */
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public Drive() {
try {
this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive();
} catch (IOException e) {
e.printStackTrace();
}
}
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@Override
public void periodic() {
// This method will be called once per scheduler run
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}
}