s

src/main/deploy/swerve/modules/backleft.json

@@ -16,7 +16,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 22,
+    "id": 7,
     "canbus": null
   },
   "inverted": {

src/main/deploy/swerve/modules/backright.json

@@ -16,7 +16,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 22,
+    "id": 6,
     "canbus": null
   },
   "inverted": {

src/main/deploy/swerve/modules/frontleft.json

@@ -16,7 +16,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 22,
+    "id": 5,
     "canbus": null
   },
   "inverted": {

src/main/deploy/swerve/modules/frontright.json

@@ -16,7 +16,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 22,
+    "id": 4,
     "canbus": null
   },
   "inverted": {

src/main/java/frc/robot/RobotContainer.java

@@ -43,6 +43,7 @@ public class RobotContainer {
   GenericEntry force5 = forces.add("Force5", 0).getEntry();
   GenericEntry force6 = forces.add("Force6", 0).getEntry();
   GenericEntry force7 = forces.add("Force7", 0).getEntry();
+  
   CommandXboxController manette = new CommandXboxController(0);
   CommandJoystick joystick1 = new CommandJoystick(0);
   Drive drive = new Drive();

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

@@ -19,7 +19,7 @@ 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, false);
+    swerveDrive.drive(new Translation2d(x, y), zRotation, false, false);
   }