Made drivetrain turn and not angry

Co-Authored-By: Evan Grinnell <155865196+S0L0GUY@users.noreply.github.com>

Author: FRCTeam3255-Shared-K1-10

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

@@ -8,22 +8,22 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.commands.Drive;
+import frc.robot.subsystems.Drivetrain;
 
 public class RobotContainer {
   private final SN_XboxController m_driverController = new SN_XboxController(RobotMap.mapControllers.DRIVER_USB);
 
+  Drivetrain subDrivetrain = new Drivetrain();
+
   public RobotContainer() {
+    subDrivetrain.setDefaultCommand(new Drive(subDrivetrain, m_driverController.axis_LeftY, m_driverController.axis_RightX));
     configureBindings();
   }
 
-  private void configureBindings() {
-    Drive(m_driverController.axis_LeftY, m_driverController.axis_RightX);
-  }
+  private void configureBindings() {}
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }
 }
-
-// .whileTrue(new SpinMotor(MyMotorMoverName,
-// m_driverController.axis_RightTrigger, m_driverController.axis_LeftTrigger));

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

@@ -13,12 +13,14 @@ public class Drive extends Command {
   /** Creates a new Drive. */
 
   Drivetrain globalDrivetrain;
-  DoubleSupplier forwardSpeed;
-  DoubleSupplier rotationSpeed;
+  DoubleSupplier globalForwardSpeed;
+  DoubleSupplier globalRotationSpeed;
 
-  public Drive(Drivetrain passedDrivetrain) {
+  public Drive(Drivetrain passedDrivetrain, DoubleSupplier passedForwardSpeed, DoubleSupplier passedRotationSpeed) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalDrivetrain = passedDrivetrain;
+    globalForwardSpeed = passedForwardSpeed;
+    globalRotationSpeed = passedForwardSpeed;
   }
 
   // Called when the command is initially scheduled.
@@ -28,8 +30,8 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    globalDrivetrain.setLeftSpeed(forwardSpeed.getAsDouble());
-    globalDrivetrain.setRightSpeed(forwardSpeed.getAsDouble());
+    globalDrivetrain.setLeftSpeed(globalForwardSpeed.getAsDouble() + globalRotationSpeed.getAsDouble());
+    globalDrivetrain.setRightSpeed(globalForwardSpeed.getAsDouble() - globalRotationSpeed.getAsDouble());
   }
 
   // Called once the command ends or is interrupted.