Brownout2

src/main/java/frc/robot/RobotContainer.java

@@ -13,14 +13,21 @@
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
+<<<<<<< HEAD
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
+=======
+>>>>>>> b87526b3161c203dc458a02f37ca2bda76a19083
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+<<<<<<< HEAD
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.commands.tank.FollowPathCommand;
+=======
+import frc.robot.commands.tank.DriveTankCommand;
+>>>>>>> b87526b3161c203dc458a02f37ca2bda76a19083
 import frc.robot.subsystems.tank.TankSubsystem;
 
 /**
@@ -98,12 +105,28 @@ private void configureButtonBindings() {
   }
 
   private void controllerBindings() {
+<<<<<<< HEAD
     // Bind A button to zero robot position when pressed
     xboxAButton.whenPressed(new InstantCommand(tankSubsystem::resetPosition));
+=======
+    Runnable tank = () -> {
+
+      // Check which controller is being used
+      boolean isXbox = (Math.abs(controlXbox.getLeftY())
+          + Math.abs(controlXbox.getRightX())) > (Math.abs(joystickLeft.getY()) + Math.abs(joystickRight.getY()));
+>>>>>>> b87526b3161c203dc458a02f37ca2bda76a19083
 
     Runnable tank = () -> {
       // Set the drive powers based on which controller is being used
+<<<<<<< HEAD
       tankSubsystem.setCarDrivePowers(-controlXbox.getLeftY(), controlXbox.getRightX());
+=======
+      if (isXbox) {
+        tankSubsystem.setCarDrivePowers(-controlXbox.getLeftY(), controlXbox.getRightX());
+      } else {
+        tankSubsystem.setTankDrivePowers(-joystickLeft.getY(), -joystickRight.getY());
+      }
+>>>>>>> b87526b3161c203dc458a02f37ca2bda76a19083
     };
     tankSubsystem.setDefaultCommand(new RunCommand(tank, tankSubsystem));
   }