CS20 should be done, CS21 is close

CS20 - REV Swerve/src/main/java/frc/robot/RobotContainer.java

@@ -4,7 +4,11 @@
 
 package frc.robot;
 
+import java.util.Optional;
+
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import frc.robot.constants.OIConstants;
 import frc.robot.subsystems.Drivetrain;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -23,7 +27,7 @@ public class RobotContainer {
   private Drivetrain drivetrain;
 
   // The driver's controller
-  CommandXboxController driver;
+  private CommandXboxController driver;
 
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -51,7 +55,16 @@ public class RobotContainer {
         drivetrain.drive(
             driver::getLeftY, 
             driver::getLeftX, 
-            driver::getRightX, 
+            driver::getRightX,
+            () -> {
+                Optional<Alliance> alliance = DriverStation.getAlliance();
+
+                if (alliance.isEmpty() || alliance.get() == Alliance.Blue) {
+                    return false;
+                } else {
+                    return true;
+                }
+            },
             OIConstants.kDriveDeadband, 
             true, 
             true

CS20 - REV Swerve/src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -4,6 +4,7 @@
 
 package frc.robot.subsystems;
 
+import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.math.MathUtil;
@@ -133,13 +134,13 @@ public class Drivetrain extends SubsystemBase {
         pose);
   }
 
-  public Command drive(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rot, 
+  public Command drive(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rot, BooleanSupplier redInvert,
     double deadband, boolean fieldRelative, boolean rateLimit) {
 
     return run(() -> {
       drive(
-        -MathUtil.applyDeadband(xSpeed.getAsDouble(), deadband), 
-        -MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband), 
+        -MathUtil.applyDeadband(xSpeed.getAsDouble(), deadband) * (fieldRelative && redInvert.getAsBoolean() ? -1 : 1), 
+        -MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband) * (fieldRelative && redInvert.getAsBoolean() ? -1 : 1), 
         -MathUtil.applyDeadband(rot.getAsDouble(), deadband), 
         fieldRelative, 
         rateLimit