1 files changed, 42 insertions, 0 deletions
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
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+++ b/src/main/java/frc/robot/RobotContainer.java
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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.math.filter.SlewRateLimiter;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.subsystems.Drivetrain;
+
+public class RobotContainer 
+{
+    private final Drivetrain m_drive = new Drivetrain();
+
+    private final SlewRateLimiter m_speedlimiter = new SlewRateLimiter(3);
+    private final SlewRateLimiter m_rotlimiter = new SlewRateLimiter(3);
+
+    private final CommandXboxController m_dcontroller = 
+        new CommandXboxController(Constants.PortDriverController);
+
+    public RobotContainer() 
+    {
+        configureBindings();
+    }
+
+    private void configureBindings() 
+    {
+        // drivetrain controls
+        m_drive.setDefaultCommand(m_drive.run(() -> 
+            m_drive.drive(
+                m_speedlimiter.calculate(m_dcontroller.getLeftY()) * Constants.DriveMaxSpeed,
+                m_rotlimiter.calculate(m_dcontroller.getRightX()) * Constants.DriveMaxAngular
+        )));
+    }
+
+    public Command getAutonomousCommand() 
+    {
+        return Commands.print("No autonomous command configured");
+    }
+}