From 9ba33a7c62109628473a5bf934d96d75812e1ae5 Mon Sep 17 00:00:00 2001
From: PGgit08 <peter.mty8@gmail.com>
Date: Sun, 31 Mar 2024 23:27:52 -0400
Subject: [PATCH] fixed deadband values on swerve chassis speed

---
 .../java/frc/robot/subsystems/SwerveDriveSubsystem.java     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java
index ebac324..0aabdab 100644
--- a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java
@@ -288,9 +288,9 @@ public double getDriveCoeff() {
    * @see ChassisSpeeds (wpilib chassis speeds class)
    */
   public void driveChassis(ChassisSpeeds chassisSpeeds) {
-    chassisSpeeds.vxMetersPerSecond = MathUtil.applyDeadband(chassisSpeeds.vxMetersPerSecond, .01);
-    chassisSpeeds.vyMetersPerSecond = MathUtil.applyDeadband(chassisSpeeds.vyMetersPerSecond, .01);
-    chassisSpeeds.omegaRadiansPerSecond = MathUtil.applyDeadband(chassisSpeeds.omegaRadiansPerSecond, Math.PI / 30);
+    chassisSpeeds.vxMetersPerSecond = MathUtil.applyDeadband(chassisSpeeds.vxMetersPerSecond, .01 * Speeds.SWERVE_DRIVE_MAX_SPEED);
+    chassisSpeeds.vyMetersPerSecond = MathUtil.applyDeadband(chassisSpeeds.vyMetersPerSecond, .01 * Speeds.SWERVE_DRIVE_MAX_SPEED);
+    chassisSpeeds.omegaRadiansPerSecond = MathUtil.applyDeadband(chassisSpeeds.omegaRadiansPerSecond, .01 * Speeds.SWERVE_DRIVE_MAX_ANGULAR_SPEED);
 
     // IMPORTANT: X-axis and Y-axis are flipped (based on wpilib coord system)
     if (fieldOriented) {