xdytfchbjn m

src/main/java/frc/robot/subsystems/Drive.java

@@ -5,14 +5,31 @@
 package frc.robot.subsystems;
 
 import java.io.File;
+import java.io.IOException;
 
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import swervelib.SwerveDrive;
+import swervelib.parser.SwerveParser;
+
 public class Drive extends SubsystemBase {
+  SwerveDrive swerveDrive;
   File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
+ 
+  public void drive(double x, double y, double zRotation){
+    swerveDrive.drive(new Translation2d(x, y), zRotation, true, true);
+  }
   
+
   /** Creates a new Drive. */
-  public Drive() {}
+  public Drive() {
+    try {
+      this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive();
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
+  }
 
   @Override
   public void periodic() {