From a33abd6a4a99816ff40a93adbddf5bed7327709c Mon Sep 17 00:00:00 2001
From: PriyanshuK-ACL <1021693@lcps.org>
Date: Wed, 23 Oct 2024 21:25:11 -0400
Subject: [PATCH] Task 3 Completion

---
 src/main/java/frc/robot/RobotContainer.java         |  7 +++++--
 src/main/java/frc/robot/commands/DriveCommands.java | 12 ++++++------
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 232bff6..5a19670 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -38,11 +38,14 @@ public RobotContainer() {
     //This causes the xrp to drive based on the left joystick y and right joystick x of the controller by default.
     //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()));
+    //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.
     //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.
   }
-
+public void RobotContainer1() {
+  configureButtonBindings();
+   m_xrpDrivetrain.setDefaultCommand(DriveCommands.tankDriveCommand(()-> -m_controller.getLeftY(), () -> -m_controller.getRightX()));
+}
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
index ac21e01..e61814a 100644
--- a/src/main/java/frc/robot/commands/DriveCommands.java
+++ b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -244,13 +244,13 @@ public static Command driveDistance1(double m_distance){
         () -> {return Math.abs(m_diffDrive.getAverageDistanceInch()) >=m_distance;},m_diffDrive);
     
         }
-        public static Command tankDriveCommand1(Supplier<Double>m_leftMotor, Supplier<Double>m_RightMotor){
+        public static Command tankDriveCommand1(Supplier<Double>m_leftMotor, Supplier<Double>m_rightMotor){
           XRPDrivetrain m_diffDrive=RobotContainer.m_xrpDrivetrain;
-          return new InstandCommand(()-> {
-            m_diffDrive.tankDrive{m_leftMotor.get(), m_rightMotor.get()}, m_diffDrive
-          }
-          );}
-  
+          return new InstantCommand(()->m_diffDrive.tankDrive(m_leftMotor.get(), m_rightMotor.get()),
+          m_diffDrive
+          );
+            
+        }