Task 3 Completion

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

@@ -39,7 +39,7 @@ public RobotContainer() {
     //It uses lambdas to make the parameters suppliers, which means that instead of them being constant, they rerun each time the command is scheduled.
     //The values are negated because the axes are flipped for some reason.
     // m_xrpDrivetrain.setDefaultCommand(DriveCommands.arcadeDriveCommand(()-> -m_controller.getLeftY(), () -> -m_controller.getRightX()));
-    //TODO: Task 4-Comment out the above line by adding // to the left of it. Then, set the default command to be your tankDriveCommand.
+    // TODO: Task 4-Comment out the above line by adding // to the left of it. Then, set the default command to be your tankDriveCommand.
     //HINT: In tank drive, the left wheel is controlled by the y axis of the left joystick and the y axis of the right joystick.
     m_xrpDrivetrain.setDefaultCommand(DriveCommands.tankDriveCommand(()-> -m_controller.getLeftY(), () -> -m_controller.getRightY()));
   }

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

@@ -40,17 +40,17 @@ public static Command driveDistance(double distance){
       //The first parameter is what happens upon initialization of the command, aka what should prepare the robot for the command to occur.
       //Causes the XRP to stop to prepare for movement, and resets the sensors that detect how much the wheels have turned.
       () -> {
-        RobotContainer.m_xrpDrivetrain.arcadeDrive(0, 0); 
+        RobotContainer.m_xrpDrivetrain.tankDrive(0, 0); 
         RobotContainer.m_xrpDrivetrain.resetEncoders();
       }, 
 
       //The second parameter is what is called every time the scheduler runs while the command is scheduled., aka what the main portion of the command is.
       //Causes the XRP to drive.
-      () -> RobotContainer.m_xrpDrivetrain.arcadeDrive(1, 0),
+      () -> RobotContainer.m_xrpDrivetrain.tankDrive(1, 0),
 
       //The third parameter is what happens upon ending the command.
       //Causes the XRP to stop.
-      interrupted -> RobotContainer.m_xrpDrivetrain.arcadeDrive(0, 0),
+      interrupted -> RobotContainer.m_xrpDrivetrain.tankDrive(0, 0),
 
       //The fourth parameter is the boolean that determines if the command ended.
       //Checks if the average distance traveled by both of the wheels is at least the distance the XRP needs to travel.
@@ -134,13 +134,13 @@ public boolean isFinished() {
    * @param turnSpeed Speed the robot turns. Is a supplier, and therefore must be a method or a lambda.
    * @return Command to arcade drive the XRP
    */
-  public static Command arcadeDriveCommand(Supplier<Double> forwardSpeed, Supplier<Double> turnSpeed){
+  public static Command tankDriveCommand(Supplier<Double> leftspeed, Supplier<Double> rightspeed){
     //This uses an InstantCommand, which shouldn't be a class. An Instant Command immediately executes, and only takes in fields for what it should do
     //and the required subsystems.
     //Useful for simple commands.
     return new InstantCommand(
       //Tells the XRP to drive at the given speeds by using .get(), which gets the value returned by the supplier
-      ()->RobotContainer.m_xrpDrivetrain.arcadeDrive(forwardSpeed.get(), turnSpeed.get()), 
+      ()->RobotContainer.m_xrpDrivetrain.tankDrive(leftspeed.get(), rightspeed.get()), 
       RobotContainer.m_xrpDrivetrain
       );
   }
@@ -222,21 +222,6 @@ public static Command turnDegrees(double degrees, double speed) {
   //driveDistance or AltDriveDistance(choose 1)
   //arcadeDriveCommand(rename as tankDriveCommand)
   //Bonus(optional):TurnDegrees(either class or function, choose 1)
-  public static class AltDriveDistance extends Command {
-    private double distance;
-    RobotContainer.m_xrpDrivetrain.tankDrive();
-    public AltDriveDistance(double distance) {
-      addRequirements(RobotContainer.m_xrpDrivetrain);
-    }
-  }
-
-  public static Command tankDriveCommand(Supplier<Double> leftspeed, Supplier<Double> rightspeed){
-    return new InstantCommand(
-      //Tells the XRP to drive at the given speeds by using .get(), which gets the value returned by the supplier
-      ()->RobotContainer.m_xrpDrivetrain.tankDrive(leftspeed.get(), rightspeed.get()), 
-      RobotContainer.m_xrpDrivetrain
-      );
-  }
 
 
   /**