From 8106ad936e0146e4b7ab4be1fcdefb8d6b0f1495 Mon Sep 17 00:00:00 2001
From: Linden <50274080+liulinden@users.noreply.github.com>
Date: Mon, 22 Jan 2024 16:23:53 -0800
Subject: [PATCH] fieldrelative stuff

---
 src/main/java/frc/robot/commands/AutoRotateTo.java          | 2 +-
 .../SwerveRemoteOperation/SwerveDriveXboxControl.java       | 6 ++----
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/commands/AutoRotateTo.java b/src/main/java/frc/robot/commands/AutoRotateTo.java
index bc8f3fc..c412dcb 100644
--- a/src/main/java/frc/robot/commands/AutoRotateTo.java
+++ b/src/main/java/frc/robot/commands/AutoRotateTo.java
@@ -70,7 +70,7 @@ public void execute() {
         ChassisSpeeds speeds = subsystem.getDesiredState();
         speeds.omegaRadiansPerSecond=turnspeed;
         
-        subsystem.setDesiredState(speeds);
+        subsystem.setDesiredState(speeds,true);
     }
 
     /**
diff --git a/src/main/java/frc/robot/commands/SwerveRemoteOperation/SwerveDriveXboxControl.java b/src/main/java/frc/robot/commands/SwerveRemoteOperation/SwerveDriveXboxControl.java
index 8f2a9ec..a53e65f 100644
--- a/src/main/java/frc/robot/commands/SwerveRemoteOperation/SwerveDriveXboxControl.java
+++ b/src/main/java/frc/robot/commands/SwerveRemoteOperation/SwerveDriveXboxControl.java
@@ -31,9 +31,7 @@ public class SwerveDriveXboxControl extends Command {
     public SwerveDriveXboxControl(SwerveDrivetrain drivetrain, CommandXboxController driverXboxController) {
         this.drivetrain = drivetrain;
         this.controller = driverXboxController;
-
-        //not sure if this code in right place
-        xboxPID = new PIDController(
+        this.xboxPID = new PIDController(
             ControllerConstants.CONTROLLER_PID_P,
             ControllerConstants.CONTROLLER_PID_I,
             ControllerConstants.CONTROLLER_PID_D
@@ -81,7 +79,7 @@ public void execute() {
 
         
         
-        drivetrain.setDesiredState(speeds);
+        drivetrain.setDesiredState(speeds, true);
 
     }