fixing dt bindings divide by zero flaw

src/main/deploy/pathplanner/paths/HP to 330 Right.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 3.6442622950819668,
-        "y": 5.031967213114754
+        "x": 3.609900518622585,
+        "y": 5.005924534374863
       },
       "prevControl": {
-        "x": 3.328722911520323,
-        "y": 5.557866185717494
+        "x": 3.2943611350609414,
+        "y": 5.531823506977602
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/L Backup.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.6442622950819668,
-        "y": 5.031967213114754
+        "x": 3.609900518622585,
+        "y": 5.005924534374863
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.5117625600811717,
-        "y": 5.243966789116026
+        "x": 3.47740078362179,
+        "y": 5.217924110376135
       },
       "isLocked": false,
       "linkedName": "L"

src/main/java/frc/robot/Robot.java

@@ -7,7 +7,7 @@ package frc.robot;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.Logger;
-//import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 

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

@@ -111,9 +111,9 @@ public class RobotContainer {
 
 		drivetrain.setDefaultCommand(
 			drivetrain.drive(
-				() -> driver.getLeftY() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
-				() -> driver.getLeftX() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
-				driver::getRightX, //Math.signum(driver.getRightX()) * Math.pow(driver.getRightX(), 3)
+				() -> driver.getLeftY(),
+				() -> driver.getLeftX(),
+				() -> driver.getRightX(), 
 				() -> true
 			)
 		);

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

@@ -16,6 +16,8 @@ public class AutoConstants {
     public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
     public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
 
+    public static final double kMaxSpeedMetersPerSecondAutoAlign = 2.5;
+
     public static final double kPXYController = 3.5;
     public static final double kPThetaController = 5;
 

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

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
 public class DrivetrainConstants {
     // Driving Parameters - Note that these are not the maximum capable speeds of
     // the robot, rather the allowed maximum speeds
-    public static final double kMaxSpeedMetersPerSecond = 5.5;
+    public static final double kMaxSpeedMetersPerSecond = 5.5 * 0.75;
     public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
 
     // Chassis configuration

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

@@ -9,4 +9,6 @@ public class OIConstants {
     public static final String kAutoTab = "Auto Tab";
     public static final String kSensorsTab = "Sensors Tab";
     public static final String kApriltagTab = "Apriltag Tab";
+
+    public static final double kJoystickExponential = 3;
 }

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

@@ -323,8 +323,18 @@ 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 xSpeedDelivered = xSpeed * DrivetrainConstants.kMaxSpeedMetersPerSecond;
-        double ySpeedDelivered = ySpeed * DrivetrainConstants.kMaxSpeedMetersPerSecond;
+        double p = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
+        double xSpeedDelivered = 0;
+        double ySpeedDelivered = 0;
+
+        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(
@@ -362,8 +372,8 @@ public class Drivetrain extends SubsystemBase {
                 );
 
                 double speed = Math.hypot(controlEffort.vxMetersPerSecond, controlEffort.vyMetersPerSecond);
-                if (speed > AutoConstants.kMaxSpeedMetersPerSecond) {
-                    double mul = AutoConstants.kMaxSpeedMetersPerSecond / speed;
+                if (speed > AutoConstants.kMaxSpeedMetersPerSecondAutoAlign) {
+                    double mul = AutoConstants.kMaxSpeedMetersPerSecondAutoAlign / speed;
                     controlEffort.vxMetersPerSecond *= mul;
                     controlEffort.vyMetersPerSecond *= mul;
                 }