From db980f3cd64a1f873ae162de72686e9cdebc8f92 Mon Sep 17 00:00:00 2001
From: Blue-Flag-666 <64064866+Blue-Flag-666@users.noreply.github.com>
Date: Mon, 4 Nov 2024 17:47:29 +0800
Subject: [PATCH] Fix swerve

---
 src/main/java/frc/libzodiac                     |  2 +-
 src/main/java/frc/robot/RobotContainer.java     |  1 +
 src/main/java/frc/robot/subsystems/Chassis.java | 12 ++++++------
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/libzodiac b/src/main/java/frc/libzodiac
index bf9f4ac..04c8f3d 160000
--- a/src/main/java/frc/libzodiac
+++ b/src/main/java/frc/libzodiac
@@ -1 +1 @@
-Subproject commit bf9f4ac42e6e3d6586cf1428989f0c34e698eaa2
+Subproject commit 04c8f3d571733270557ea7b5fadadb8f5ac419a6
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 36acfd0..d3d68a6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -5,6 +5,7 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.libzodiac.ZDashboard;
 import frc.libzodiac.Zambda;
 import frc.libzodiac.Zamera;
 import frc.libzodiac.ui.Axis;
diff --git a/src/main/java/frc/robot/subsystems/Chassis.java b/src/main/java/frc/robot/subsystems/Chassis.java
index 8b901b0..a7682e1 100644
--- a/src/main/java/frc/robot/subsystems/Chassis.java
+++ b/src/main/java/frc/robot/subsystems/Chassis.java
@@ -6,19 +6,19 @@
 import frc.libzodiac.hardware.Pigeon;
 import frc.libzodiac.hardware.TalonFXMotor;
 import frc.libzodiac.hardware.group.TalonFXSwerve;
-import frc.libzodiac.util.Vec2D;
+import frc.libzodiac.util.Vec2;
 
 public class Chassis extends Zwerve {
     // TODO: Swerve zero position
-    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 TalonFXSwerve front_left = new TalonFXSwerve(5, 1, 9, 3354).invert(false, true);
+    private static final TalonFXSwerve front_right = new TalonFXSwerve(8, 4, 12, 1921).invert(false, true);
+    private static final TalonFXSwerve rear_left = new TalonFXSwerve(6, 2, 10, 792).invert(false, true);
+    private static final TalonFXSwerve rear_right = new TalonFXSwerve(7, 3, 11, 147).invert(false, true);
 
     private static final Pigeon gyro = new Pigeon(0);
 
     private static final Pose2d initialPose = new Pose2d(0, 0, Rotation2d.fromRadians(0)); // TODO: Initial pose
-    private static final Vec2D size = new Vec2D(114, 114); // TODO: Robot size
+    private static final Vec2 size = new Vec2(114, 114); // TODO: Robot size
 
     /**
      * Creates a new Chassis.