FINALLY FIXED SWERVE

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

@@ -46,10 +46,20 @@ public class RobotContainer {
         driver::getLeftY,
         driver::getLeftX, 
         driver::getRightX, 
-        () -> true
+        () -> false
       )
     );
 
+    driver.start().and(driver.x()).whileTrue(drivetrain.runFrontLeft(1, 0));
+    driver.start().and(driver.y()).whileTrue(drivetrain.runFrontRight(1, 0));
+    driver.start().and(driver.a()).whileTrue(drivetrain.runRearLeft(1, 0));
+    driver.start().and(driver.b()).whileTrue(drivetrain.runRearRight(1, 0));
+    driver.start().negate().and(driver.x()).whileTrue(drivetrain.runFrontLeft(0, 45));
+    driver.start().negate().and(driver.y()).whileTrue(drivetrain.runFrontRight(0, 45));
+    driver.start().negate().and(driver.a()).whileTrue(drivetrain.runRearLeft(0, 45));
+    driver.start().negate().and(driver.b()).whileTrue(drivetrain.runRearRight(0, 45));
+    driver.rightBumper().whileTrue(drivetrain.setX());
+
     //drivetrain.setDefaultCommand(drivetrain.disableOutputs());
 
     configureShiftDisplay();

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

@@ -90,7 +90,8 @@ public class ModuleConstants {
 
         turningConfig
             .idleMode(kTurnIdleMode)
-            .smartCurrentLimit(kTurnMotorCurrentLimit);
+            .smartCurrentLimit(kTurnMotorCurrentLimit)
+            .inverted(true);
         turningConfig.encoder
             //.inverted(true)
             .positionConversionFactor(kTurningFactor)
@@ -101,5 +102,6 @@ public class ModuleConstants {
             .outputRange(-1, 1)
             .positionWrappingEnabled(true)
             .positionWrappingInputRange(0, 2 * Math.PI);
+            
     }
 }

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

@@ -134,6 +134,35 @@ public class Drivetrain extends SubsystemBase {
         Logger.recordOutput("Drivetrain/Heading", getHeading());
     }
 
+    public Command runFrontLeft(double staticSpeed, double staticAngleDegrees) {
+        return run(() -> {
+            frontLeft.setDesiredState(new SwerveModuleState(
+                staticSpeed, 
+                Rotation2d.fromDegrees(staticAngleDegrees)));
+        });
+    }
+    public Command runFrontRight(double staticSpeed, double staticAngleDegrees) {
+        return run(() -> {
+            frontRight.setDesiredState(new SwerveModuleState(
+                staticSpeed, 
+                Rotation2d.fromDegrees(staticAngleDegrees)));
+        });
+    }
+    public Command runRearLeft(double staticSpeed, double staticAngleDegrees) {
+        return run(() -> {
+            rearLeft.setDesiredState(new SwerveModuleState(
+                staticSpeed, 
+                Rotation2d.fromDegrees(staticAngleDegrees)));
+        });
+    }
+    public Command runRearRight(double staticSpeed, double staticAngleDegrees) {
+        return run(() -> {
+            rearRight.setDesiredState(new SwerveModuleState(
+                staticSpeed, 
+                Rotation2d.fromDegrees(staticAngleDegrees)));
+        });
+    }
+
     public Command disableOutputs() {
         return run(() -> {
             frontLeft.disableOutput();