From a2266e153072e1785e67a7c286c4384d1ec1f7b8 Mon Sep 17 00:00:00 2001
From: Ian Shi <Ianshi1026@gmail.com>
Date: Sat, 14 Sep 2024 17:13:00 -0400
Subject: [PATCH] update RC for driving

---
 .../stuypulse/robot/commands/swerve/SwerveDriveDrive.java  | 7 ++++---
 src/main/java/com/stuypulse/robot/constants/Settings.java  | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java
index 9d927fbe..c22f55e3 100644
--- a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java
+++ b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java
@@ -7,6 +7,7 @@
 import com.stuypulse.stuylib.streams.vectors.VStream;
 import com.stuypulse.stuylib.streams.vectors.filters.VDeadZone;
 import com.stuypulse.stuylib.streams.vectors.filters.VLowPassFilter;
+import com.stuypulse.stuylib.streams.vectors.filters.VMotionProfile;
 import com.stuypulse.stuylib.streams.vectors.filters.VRateLimit;
 
 import com.stuypulse.robot.constants.Settings.Driver.Drive;
@@ -34,15 +35,15 @@ public SwerveDriveDrive(Gamepad driver) {
                 x -> x.clamp(1),
                 x -> x.pow(Drive.POWER.get()),
                 x -> x.mul(Drive.MAX_TELEOP_SPEED.get()),
-                new VRateLimit(Drive.MAX_TELEOP_ACCEL.get()),
-                new VLowPassFilter(Drive.RC.get()));
+                new VRateLimit(Drive.MAX_TELEOP_ACCEL),
+                new VLowPassFilter(Drive.RC));
 
         turn = IStream.create(driver::getRightX)
             .filtered(
                 x -> SLMath.deadband(x, Turn.DEADBAND.get()),
                 x -> SLMath.spow(x, Turn.POWER.get()),
                 x -> x * Turn.MAX_TELEOP_TURN_SPEED.get(),
-                new LowPassFilter(Turn.RC.get()));
+                new LowPassFilter(Turn.RC));
 
         this.driver = driver;
 
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
index 288c1c1c..6f1725bb 100644
--- a/src/main/java/com/stuypulse/robot/constants/Settings.java
+++ b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -334,7 +334,7 @@ public interface Driver {
         public interface Drive {
             SmartNumber DEADBAND = new SmartNumber("Driver Settings/Drive/Deadband", 0.03);
 
-            SmartNumber RC = new SmartNumber("Driver Settings/Drive/RC", 0.01);
+            SmartNumber RC = new SmartNumber("Driver Settings/Drive/RC", 0.05);
             SmartNumber POWER = new SmartNumber("Driver Settings/Drive/Power", 2);
 
             SmartNumber MAX_TELEOP_SPEED = new SmartNumber("Driver Settings/Drive/Max Speed", Swerve.MAX_LINEAR_VELOCITY);