fixed drive + climb bindings and kraken chirp

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

@@ -97,28 +97,21 @@ public class RobotContainer {
 		operator.y().whileTrue(elevator.sysIdDynamic(Direction.kReverse));
 	}*/
 
-	private void elevatorOnlyBindings(){
-		elevator.setDefaultCommand(elevator.maintainPosition());
-		manipulatorPivot.setDefaultCommand(manipulatorPivot.maintainPosition());
-
-		driver.a().onTrue(safeMoveManipulator(ElevatorConstants.kL2Position, ManipulatorPivotConstants.kL2Position));
-	}
-
 	private void configureButtonBindings() {
 		//Default commands
 		climberPivot.setDefaultCommand(
-			climberPivot.runPivot(0)
+			climberPivot.runPivot(() -> 0)
 		);
 
 		climberRollers.setDefaultCommand(
-			climberRollers.runRoller(0)
+			climberRollers.runRoller(() -> 0)
 		);
 
 		drivetrain.setDefaultCommand(
 			drivetrain.drive(
-				() -> Math.pow(driver.getLeftY(), 3),
+				() -> Math.signum(driver.getLeftY()) * Math.pow(driver.getLeftY(), 3),
-				() -> Math.pow(driver.getLeftX(), 3),
+				() -> Math.signum(driver.getLeftX()) * Math.pow(driver.getLeftX(), 3),
-				driver::getRightX, //Math.pow(driver.getRightX(), 3)
+				driver::getRightX, //Math.signum(driver.getRightX()) * Math.pow(driver.getRightX(), 3)
 				() -> true
 			)
 		);
@@ -159,12 +152,7 @@ public class RobotContainer {
 
 		driver.y().whileTrue(drivetrain.zeroHeading());
 		
-		driver.povDown().whileTrue(climberPivot.runPivot(-0.5));
+		driver.a().whileTrue(manipulator.runManipulator(() -> -0.5, false));
-		driver.povUp().whileTrue(climberPivot.runPivot(0.5));
-
-		driver.povLeft().whileTrue(climberRollers.runRoller(0.5));
-		driver.povRight().whileTrue(climberRollers.runRoller(-0.5));
-		driver.a().whileTrue(manipulator.runManipulator(() -> 0.5, false));
 		
 		/* 
 		driver.rightBumper().whileTrue(
@@ -213,6 +201,8 @@ public class RobotContainer {
 			)
 		);
 
+		operator.start().toggleOnTrue(climberPivot.runPivot(() -> operator.getRightY()*0.5).alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
+
 		operator.a().onTrue(
 			safeMoveManipulator(ElevatorConstants.kL1Position, 0.0)
 		);
@@ -220,18 +210,18 @@ public class RobotContainer {
 		operator.x().onTrue(
 			safeMoveManipulator(ElevatorConstants.kL2AlgaePosition, ManipulatorPivotConstants.kL2AlgaePosition)
 				.alongWith(manipulator.runManipulator(() -> 0.5, false))
-				.until(driver.rightTrigger())
+				.until(() -> driver.a().getAsBoolean())
 		);
 
 		operator.b().onTrue(
 			safeMoveManipulator(ElevatorConstants.kL3AlgaePosition, ManipulatorPivotConstants.kL3AlgaePosition)
 				.alongWith(manipulator.runManipulator(() -> 0.5, false))
-				.until(driver.rightTrigger())
+				.until(() -> driver.a().getAsBoolean())
 		);
 
 		operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition)
 			.alongWith(manipulator.runManipulator(() -> 0.5, false))
-			.until(driver.rightTrigger())
+			.until(() -> driver.a().getAsBoolean())
 		);
 
 	}

src/main/java/frc/robot/constants/ModuleConstants.java

@@ -2,6 +2,7 @@ package frc.robot.constants;
 
 import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.ctre.phoenix6.configs.AudioConfigs;
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.FeedbackConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
@@ -57,6 +58,7 @@ public class ModuleConstants {
     public static final FeedbackConfigs kDriveFeedConfig = new FeedbackConfigs();
     public static final CurrentLimitsConfigs kDriveCurrentLimitConfig = new CurrentLimitsConfigs();
     public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
+    public static final AudioConfigs kAudioConfig = new AudioConfigs();
     public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
 
     static {
@@ -70,6 +72,8 @@ public class ModuleConstants {
         kDriveMotorConfig.Inverted = kDriveInversionState;
         kDriveMotorConfig.NeutralMode = kDriveIdleMode;
 
+        kAudioConfig.AllowMusicDurDisable = true;
+
         kDriveSlot0Config.kP = kDriveP;
         kDriveSlot0Config.kI = kDriveI;
         kDriveSlot0Config.kD = kDriveD;

src/main/java/frc/robot/subsystems/ClimberPivot.java

@@ -1,5 +1,7 @@
 package frc.robot.subsystems;
 
+import java.util.function.DoubleSupplier;
+
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
@@ -30,9 +32,9 @@ public class ClimberPivot extends SubsystemBase {
         neoEncoder = pivotMotor.getEncoder();
     }
 
-    public Command runPivot(double speed) {
+    public Command runPivot(DoubleSupplier speed) {
         return run(() -> {
-            pivotMotor.set(speed);
+            pivotMotor.set(speed.getAsDouble());
         });
     }
 

src/main/java/frc/robot/subsystems/ClimberRollers.java

@@ -1,5 +1,7 @@
 package frc.robot.subsystems;
 
+import java.util.function.DoubleSupplier;
+
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
@@ -32,9 +34,9 @@ public class ClimberRollers extends SubsystemBase {
      * @param speed The speed in which the roller runs
      * @return Runs the rollers at a set speed
      */
-    public Command runRoller(double speed) {
+    public Command runRoller(DoubleSupplier speed) {
         return run(() -> {
-            rollerMotor.set(speed);
+            rollerMotor.set(speed.getAsDouble());
         });
     }
 }

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -24,7 +24,6 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -47,8 +46,6 @@ public class Drivetrain extends SubsystemBase {
     // Odometry class for tracking robot pose
     private SwerveDrivePoseEstimator m_estimator;
 
-    private Vision vision;
-
     public Orchestra m_orchestra = new Orchestra();
     private Timer musicTimer = new Timer();
 

src/main/java/frc/robot/subsystems/MAXSwerveModule.java

@@ -56,6 +56,7 @@ public class MAXSwerveModule {
         m_drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
         m_drive.getConfigurator().apply(ModuleConstants.kDriveFeedConfig);
         m_drive.getConfigurator().apply(ModuleConstants.kDriveMotorConfig);
+        m_drive.getConfigurator().apply(ModuleConstants.kAudioConfig);
         m_drive.getConfigurator().apply(ModuleConstants.kDriveSlot0Config);
 
         m_turningSpark.configure(ModuleConstants.turningConfig, ResetMode.kResetSafeParameters,