From 4296e2f27fe40d12a82dc675e0c735124d55e1f7 Mon Sep 17 00:00:00 2001
From: Bradley Bickford <bradleybickford@gmail.com>
Date: Wed, 28 Jan 2026 20:32:10 -0500
Subject: [PATCH] Partially adjusting drivetrain code to resolve an obvious
 error

---
 src/main/java/frc/robot/RobotContainer.java        | 2 +-
 src/main/java/frc/robot/subsystems/Drivetrain.java | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 91d7883..6e54ed1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -43,8 +43,8 @@ public class RobotContainer {
   private void configureBindings() {
     drivetrain.setDefaultCommand(
       drivetrain.drive(
+        driver::getLeftY,
         driver::getLeftX, 
-        driver::getLeftY, 
         driver::getRightX, 
         () -> true
       )
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 335d20e..93cfc5c 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -180,12 +180,12 @@ public class Drivetrain extends SubsystemBase {
     }
 
     public Command drive(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rotation, BooleanSupplier fieldRelative) {
-        // TODO Inversions? Specific Alliance code?
+        // TODO Specific Alliance code?
         return run(() -> {
             drive(
-                MathUtil.applyDeadband(xSpeed.getAsDouble(), OIConstants.kDriveDeadband), 
-                MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
-                MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband), 
+                -MathUtil.applyDeadband(xSpeed.getAsDouble(), OIConstants.kDriveDeadband), 
+                -MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband), 
                 fieldRelative.getAsBoolean()
             );
         });