From dfa05d79a75a4a6c1c750a554ae419b4523cfbdc Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 23 Oct 2024 19:31:48 -0400
Subject: [PATCH 1/2] YAGLS

---
 src/main/java/frc/robot/Subsystems/Drive.java | 38 ++++++++++++++++++-
 vendordeps/PathplannerLib.json                | 38 +++++++++++++++++++
 2 files changed, 74 insertions(+), 2 deletions(-)
 create mode 100644 vendordeps/PathplannerLib.json

diff --git a/src/main/java/frc/robot/Subsystems/Drive.java b/src/main/java/frc/robot/Subsystems/Drive.java
index 2715574..076ada3 100644
--- a/src/main/java/frc/robot/Subsystems/Drive.java
+++ b/src/main/java/frc/robot/Subsystems/Drive.java
@@ -4,12 +4,46 @@
 
 package frc.robot.Subsystems;
 
+import java.io.File;
+import java.io.IOException;
+
+import com.ctre.phoenix6.hardware.Pigeon2;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+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 {
 
-  /** Creates a new Drive. */
-  public Drive() {}
+    SwerveDrive swerveDrive;
+
+  File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
+  
+  Pigeon2 Gyro = new Pigeon2(0);
+   
+  public void drive(double x, double y, double zRotation){
+    swerveDrive.drive(new Translation2d(x*5, y*5), zRotation*4, true, false);
+  }
+  
+  public Drive() {
+     try {
+      this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(5);
+      swerveDrive.setHeadingCorrection(true);
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
+  }
+  public void restgyroscope(){
+    Gyro.reset();
+  }
+  public SwerveModulePosition[] distance(){
+    return swerveDrive.getModulePositions();
+  }
+
   
   @Override
   public void periodic() {
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
new file mode 100644
index 0000000..6dc648d
--- /dev/null
+++ b/vendordeps/PathplannerLib.json
@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib.json",
+    "name": "PathplannerLib",
+    "version": "2024.2.8",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2024.2.8"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2024.2.8",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}
\ No newline at end of file

From ea96a168641c2735c9354641473d78d1b7648963 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 23 Oct 2024 19:34:20 -0400
Subject: [PATCH 2/2] swerve

---
 src/main/deploy/swerve/modules/backleft.json   | 4 ++--
 src/main/deploy/swerve/modules/frontleft.json  | 4 ++--
 src/main/deploy/swerve/modules/frontright.json | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index 0d3c214..a80513d 100644
--- a/src/main/deploy/swerve/modules/backleft.json
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -5,12 +5,12 @@
   },
   "absoluteEncoderOffset":209.443,
   "drive": {
-    "type": "sparkmax",
+    "type": "talonFX",
     "id": 8,
     "canbus": null
   },
   "angle": {
-    "type": "sparkmax",
+    "type": "talonFX",
     "id": 9,
     "canbus": null
   },
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index 5cd53a4..8a46421 100644
--- a/src/main/deploy/swerve/modules/frontleft.json
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -5,12 +5,12 @@
   },
   "absoluteEncoderOffset":258.223 ,
   "drive": {
-    "type": "sparkmax",
+    "type": "talonFX",
     "id": 2,
     "canbus": null
   },
   "angle": {
-    "type": "sparkmax",
+    "type": "talonFX",
     "id": 3,
     "canbus": null
   },
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
index cd1f7a6..9945196 100644
--- a/src/main/deploy/swerve/modules/frontright.json
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -5,12 +5,12 @@
   },
   "absoluteEncoderOffset": 110.215,
   "drive": {
-    "type": "sparkmax",
+    "type": "talonFX",
     "id": 18,
     "canbus": null
   },
   "angle": {
-    "type": "sparkmax",
+    "type": "talonFX",
     "id": 17,
     "canbus": null
   },