From 6c0df54b063cc4736dab85dfae7edaac2bef7fe7 Mon Sep 17 00:00:00 2001
From: Tylr-J42 <84476781+Tylr-J42@users.noreply.github.com>
Date: Fri, 6 Jun 2025 18:22:12 -0400
Subject: [PATCH] fixing dt bindings divide by zero flaw

---
 src/main/java/frc/robot/subsystems/Drivetrain.java | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index a47243c..b513f24 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -324,9 +324,17 @@ public class Drivetrain extends SubsystemBase {
     public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
         // Convert the commanded speeds into the correct units for the drivetrain
         double p = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
+        double xSpeedDelivered = 0;
+        double ySpeedDelivered = 0;
 
-        double xSpeedDelivered = xSpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
-        double ySpeedDelivered = ySpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+        if(p != 0){
+            xSpeedDelivered = xSpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+            ySpeedDelivered = ySpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+        }else{
+            xSpeedDelivered = 0;
+            ySpeedDelivered = 0;
+        }
+        
         double rotDelivered = rot * DrivetrainConstants.kMaxAngularSpeed;
 
         var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(