From 633ebb0ac93fa96e366c3717f2eda0c5d3edb8fc Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Tue, 31 Oct 2023 19:57:56 -0400
Subject: [PATCH] Changer id swerve

---
 simgui-ds.json                                 |  5 +++++
 simgui.json                                    | 11 ++++++++++-
 src/main/deploy/swerve/modules/backleft.json   |  4 ++--
 src/main/deploy/swerve/modules/backright.json  |  6 +++---
 src/main/deploy/swerve/modules/frontleft.json  |  6 +++---
 src/main/deploy/swerve/modules/frontright.json |  6 +++---
 src/main/java/frc/robot/RobotContainer.java    |  2 +-
 src/main/java/frc/robot/subsystems/Drive.java  |  2 +-
 8 files changed, 28 insertions(+), 14 deletions(-)

diff --git a/simgui-ds.json b/simgui-ds.json
index 73cc713..46c45d8 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -88,5 +88,10 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "030000006d04000015c2000000000000"
+    }
   ]
 }
diff --git a/simgui.json b/simgui.json
index 449f4b1..be49c52 100644
--- a/simgui.json
+++ b/simgui.json
@@ -1,7 +1,16 @@
 {
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/navX-Sensor[1]": "Gyro"
+    },
+    "windows": {
+      "/SmartDashboard/Field": {
+        "window": {
+          "visible": true
+        }
+      }
     }
   }
 }
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index 3ae3fdd..ceabe5f 100644
--- a/src/main/deploy/swerve/modules/backleft.json
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -11,12 +11,12 @@
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 1,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 2,
     "canbus": null
   },
   "inverted": {
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
index c896a6e..1de02f1 100644
--- a/src/main/deploy/swerve/modules/backright.json
+++ b/src/main/deploy/swerve/modules/backright.json
@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 0,
   "drive": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 3,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 4,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 5,
     "canbus": null
   },
   "inverted": {
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index 018c523..5ac2369 100644
--- a/src/main/deploy/swerve/modules/frontleft.json
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 0,
   "drive": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 6,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 7,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 8,
     "canbus": null
   },
   "inverted": {
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
index d3ccba2..50fccc3 100644
--- a/src/main/deploy/swerve/modules/frontright.json
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 0,
   "drive": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 9,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 10,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 11,
     "canbus": null
   },
   "inverted": {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c3d6163..ed090c1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -22,7 +22,7 @@ public class RobotContainer {
      // drive.drive(manette.getLeftX(), manette.getLeftY(), manette.getRightX());
     //},drive));
     drive.setDefaultCommand(new RunCommand(()->{
-     drive.drive(joystick1.getX(), -joystick1.getY(), joystick1.getZ());
+     drive.drive(joystick1.getX(), -joystick1.getY(), -joystick1.getZ());
     },drive));
   }
   
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 7337a17..637b22c 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -18,7 +18,7 @@ public class Drive extends SubsystemBase {
   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);
+    swerveDrive.drive(new Translation2d(x, y), zRotation, true, false);
   }