should have written configuration code for swerve. Everything should …

…work :)

Robot2024/lib/src/main/java/com/team2813/lib2813/swerve/controllers/SwerveModule.java

@@ -1,7 +1,7 @@
-package com.team2813.lib.swerve.controllers;
+package com.team2813.lib2813.swerve.controllers;
 
 import com.swervedrivespecialties.swervelib.SteerController;
-import com.team2813.lib.swerve.controllers.drive.DriveController;
+import com.team2813.lib2813.swerve.controllers.drive.DriveController;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;

Robot2024/lib/src/main/java/com/team2813/lib2813/swerve/controllers/drive/DriveController.java

@@ -1,4 +1,4 @@
-package com.team2813.lib.swerve.controllers.drive;
+package com.team2813.lib2813.swerve.controllers.drive;
 
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardContainer;

Robot2024/lib/src/main/java/com/team2813/lib2813/swerve/controllers/steer/SteerConfiguration.java

@@ -1,4 +1,4 @@
-package com.team2813.lib.swerve.controllers.steer;
+package com.team2813.lib2813.swerve.controllers.steer;
 
 import com.swervedrivespecialties.swervelib.ctre.CanCoderAbsoluteConfiguration;
 

Robot2024/src/main/java/com/team2813/subsystems/Drive.java

@@ -1,6 +1,10 @@
 package com.team2813.subsystems;
 
 import com.ctre.phoenix.sensors.Pigeon2;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
+import com.pathplanner.lib.util.PIDConstants;
+import com.pathplanner.lib.util.ReplanningConfig;
 import com.swervedrivespecialties.swervelib.Mk4iSwerveModuleHelper.GearRatio;
 import com.swervedrivespecialties.swervelib.SdsModuleConfigurations;
 
@@ -12,6 +16,8 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.*;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -127,8 +133,34 @@ public Drive() {
         );
 
         pigeon.configMountPose(Pigeon2.AxisDirection.PositiveY, Pigeon2.AxisDirection.PositiveZ);
+
+		AutoBuilder.configureHolonomic(
+			this::getPose,
+			this::resetOdometry,
+			this::getChassisSpeeds,
+			this::drive,
+			new HolonomicPathFollowerConfig(
+				new PIDConstants(0),
+				new PIDConstants(0),
+				MAX_VELOCITY,
+				0.4,
+				new ReplanningConfig()
+				),
+			Drive::onRed,
+			this);
     }
 
+	/**
+	 * A method that gets whether you are on red alliance. If there is not an alliance,
+	 * returns false
+	 * @return {@code true} if you are on the red alliance
+	 */
+	private static boolean onRed() {
+		return DriverStation.getAlliance()
+			.<Boolean>map((j) -> j == Alliance.Red)
+			.orElse(false);
+	}
+
     public Rotation2d getRotation() {
         return Rotation2d.fromDegrees(pigeon.getHeading());
     }