added switch to field oriented where needed

src/main/java/frc/robot/Robot.java

@@ -35,7 +35,7 @@ public void robotInit() {
     // FIRST THING THAT HAPPENS
     addPeriodic(() -> AllianceHelper.getInstance().updateAlliance(DriverStation.getAlliance()), 0.5);
 
-    CameraServer.startAutomaticCapture();
+    // CameraServer.startAutomaticCapture();
 
     // Instantiate our RobotContainer. This will perform all our button bindings,
     // and put our
@@ -63,7 +63,7 @@ public void robotPeriodic() {
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
 
-    CameraServer.putVideo("INTAKE CAM", 1080, 920);
+    // CameraServer.putVideo("INTAKE CAM", 1080, 920);
   }
 
   /** This function is called once each time the robot enters Disabled mode. */
@@ -96,6 +96,7 @@ public void teleopInit() {
     // teleop starts running. If you want the autonomous to
     // continue until interrupted by another command, remove
     // this line or comment it out.
+    m_robotContainer.teleopInit();
 
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();

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

@@ -184,6 +184,13 @@ private void configureBindings() {
     );
   }
 
+  /**
+   * Updates all subsystems on teleop init.
+   */
+  public void teleopInit() {
+    _swerveSubsystem.fieldOriented = true;
+  }
+
   /** @return The Command to schedule for auton. */
   public Command getAutonCommand() {
     _swerveSubsystem.fieldOriented = false; // make sure swerve is robot-relative for pathplanner to work

src/main/java/frc/robot/commands/shooter/AutoAim.java

@@ -174,8 +174,6 @@ public AutoAim(
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    _swerve.fieldOriented = true;
-
     _reachedSwerveHeading = false;
     _reachedShooterAngle = false;
     _reachedElevatorHeight = false;

src/main/java/frc/robot/commands/swerve/TeleopDrive.java

@@ -38,9 +38,7 @@ public TeleopDrive(SwerveDriveSubsystem swerveDrive, DoubleSupplier xSpeed, Doub
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-    _swerveDrive.fieldOriented = true;
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -57,8 +57,8 @@ public ShooterSubsystem() {
     softLimits.ForwardSoftLimitThreshold = 55 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
     softLimits.ReverseSoftLimitThreshold = -25 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
 
-    softLimits.ForwardSoftLimitEnable = true;
-    softLimits.ReverseSoftLimitEnable = true;
+    softLimits.ForwardSoftLimitEnable = false;
+    softLimits.ReverseSoftLimitEnable = false;
 
     _angleMotor.getConfigurator().apply(softLimits);