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

@@ -8,46 +8,26 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.constants.ArmConstants;
 import frc.robot.constants.IOConstants;
 import frc.robot.subsystems.Arm;
-import frc.robot.subsystems.DriveTrain;
-import frc.robot.subsystems.Grabber;
 
 public class RobotContainer {
-    CommandPS5Controller driver;
+    CommandXboxController driver;
 
     Arm arm;
 
-    DriveTrain driveTrain;
-    Grabber grabber;
-
     public RobotContainer() {
         arm = new Arm();
-        driveTrain = new DriveTrain();
+        driver = new CommandXboxController(IOConstants.kDriverID0);
-        grabber = new Grabber(); 
-        driver = new CommandPS5Controller(IOConstants.kDriverID0);
         configureBindings();
     }
 
     private void configureBindings() {
-        driveTrain.setDefaultCommand(
-            driveTrain.driveArcade(
-              driver::getLeftY, 
-              driver::getLeftX 
-            )
-        );  
-        grabber.setDefaultCommand(grabber.stop());
-        driver.R1().whileTrue(grabber.runGrabberMotor(1));
-        driver.L1().whileTrue(grabber.runGrabberMotor(-1));
-        arm.setDefaultCommand(arm.stop());
-        driver.povUp().whileTrue(arm.runArmMotor(1));
-        driver.povDown().whileTrue(arm.runArmMotor(-1));
     }
 
     public Command getAutonomousCommand() {
         return Commands.print("No autonomous command configured");
     }
-}
+}

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

@@ -1,6 +0,0 @@
-package frc.robot.constants;
-
-public class GrabberConstants {
-    public static final int kGrabberLtMotorID6 = 6;
-    public static final int kGrabberRtMotorID7 = 7;
-}

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

@@ -18,8 +18,4 @@ public class Arm extends SubsystemBase {
             motor.set(speed);
         });
     }
-
-    public Command stop() {
-        return run(() -> motor.set(0));
-    }
 }

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

@@ -30,8 +30,15 @@ public class DriveTrain extends SubsystemBase {
     }
     public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) {
         return run(() -> {
-            
+            //makes car like steering possible
             drive.arcadeDrive(xSpeed.getAsDouble(), zRotation.getAsDouble()); 
         });
     }
+
+    public Command driveTank(DoubleSupplier leftSpeed, DoubleSupplier rightSpeed) {
+        return run(() -> {
+            //makes tank steering possible
+            drive.tankDrive(leftSpeed.getAsDouble(), rightSpeed.getAsDouble()); 
+        });
+    }
 }

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

@@ -1,30 +0,0 @@
-package frc.robot.subsystems;
-
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.ArmConstants;
-import frc.robot.constants.DriveTrainConstants;
-import frc.robot.constants.GrabberConstants;
-
-public class Grabber extends SubsystemBase {
-    private WPI_TalonSRX motorRight;
-    private WPI_TalonSRX motorLeft;
-
-        
-    public Grabber() {
-        motorRight = new WPI_TalonSRX(GrabberConstants.kGrabberRtMotorID7);
-        motorLeft = new WPI_TalonSRX(GrabberConstants.kGrabberLtMotorID6);
-
-        motorLeft.follow(motorRight);
-    }
-        public Command runGrabberMotor(double speed) {
-        return run(() -> {
-            motorRight.set(speed);
-        });
-    }
-    public Command stop() {
-        return run(() -> motorRight.set(0));
-    }
-}