Swerve + Constant

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

@@ -4,11 +4,40 @@
 
 package frc.robot.subsystem;
 
+import java.io.File;
+import java.io.IOException;
+
+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");
+  public void drive(double x, double y, double zRotation){
+    swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false);
+  }
+  
+  public Drive() {
+
+     try {
+      this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(2);
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
+  }
+
+  public SwerveModulePosition[] distance(){
+    return swerveDrive.getModulePositions();
+  }
+public void reset(){
+
+}
 
   @Override
   public void periodic() {