fixing dt bindings divide by zero flaw

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

@@ -111,8 +111,8 @@ 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.getLeftY(),
+				() -> driver.getLeftX(),
 				() -> driver.getRightX(), 
 				() -> true
 			)

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(