From 6b3758bee0666ff761bc2ba579d24d880df3466c Mon Sep 17 00:00:00 2001
From: Blue-Flag-666 <64064866+Blue-Flag-666@users.noreply.github.com>
Date: Sun, 15 Sep 2024 02:08:55 +0800
Subject: [PATCH] Fix invert for motor and swerve

---
 src/main/java/frc/libzodiac                     | 2 +-
 src/main/java/frc/robot/Commands/Auto.java      | 5 +++--
 src/main/java/frc/robot/RobotContainer.java     | 2 +-
 src/main/java/frc/robot/Subsystems/Chassis.java | 8 ++++----
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/libzodiac b/src/main/java/frc/libzodiac
index 5d56aae..98a02c6 160000
--- a/src/main/java/frc/libzodiac
+++ b/src/main/java/frc/libzodiac
@@ -1 +1 @@
-Subproject commit 5d56aae472a521120c581cc29ec6752914d54507
+Subproject commit 98a02c60b003dd19ef4020bed938ec202fb9db81
diff --git a/src/main/java/frc/robot/Commands/Auto.java b/src/main/java/frc/robot/Commands/Auto.java
index 93a53e5..9e3f5f9 100644
--- a/src/main/java/frc/robot/Commands/Auto.java
+++ b/src/main/java/frc/robot/Commands/Auto.java
@@ -10,7 +10,7 @@
 import java.util.Queue;
 
 public class Auto extends ZCommand {
-    public static final AutoCommand Fallback = new AutoCommand() {
+    public static final AutoCommand Default = new AutoCommand() {
         @Override
         public AutoCommand init() {
             commands.clear();
@@ -45,8 +45,9 @@ public AutoCommand init() {
     private static AutoCommand command;
     private static Chassis chassis;
 
-    public Auto(RobotContainer robot) {
+    public Auto(RobotContainer robot, AutoCommand cmd) {
         chassis = require(robot.chassis);
+        command = cmd;
     }
 
     private static boolean go_pos(Vec2D pos, double yaw) {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 16dd2fc..73891c9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -17,7 +17,7 @@ public class RobotContainer {
     public final Zamera camera = new Zamera();
     public final Xbox driver = new Xbox(0);
     public final Xbox controller = new Xbox(1);
-    public final Auto auto = new Auto(this); // todo: change command
+    public final Auto auto = new Auto(this, Auto.Default); // todo: change command
 
 
     /**
diff --git a/src/main/java/frc/robot/Subsystems/Chassis.java b/src/main/java/frc/robot/Subsystems/Chassis.java
index 62c8526..617b50c 100644
--- a/src/main/java/frc/robot/Subsystems/Chassis.java
+++ b/src/main/java/frc/robot/Subsystems/Chassis.java
@@ -9,10 +9,10 @@
 
 public class Chassis extends Zwerve {
     // TODO: Swerve zero position
-    private static final TalonFXSwerve front_left = new TalonFXSwerve(5, 1, 9, 3581);
-    private static final TalonFXSwerve front_right = new TalonFXSwerve(8, 4, 12, 1921);
-    private static final TalonFXSwerve rear_left = new TalonFXSwerve(6, 2, 10, 408);
-    private static final TalonFXSwerve rear_right = new TalonFXSwerve(7, 3, 11, 149);
+    private static final TalonFXSwerve front_left = new TalonFXSwerve(5, 1, 9, 3581).invert(false, true);
+    private static final TalonFXSwerve front_right = new TalonFXSwerve(8, 4, 12, 1921).invert(false, false);
+    private static final TalonFXSwerve rear_left = new TalonFXSwerve(6, 2, 10, 408).invert(true, true);
+    private static final TalonFXSwerve rear_right = new TalonFXSwerve(7, 3, 11, 149).invert(true, true);
 
     private static final Pigeon gyro = new Pigeon(0);