From 7c250665afb45ff6cd9f09d931afc790a39de8a0 Mon Sep 17 00:00:00 2001
From: Gabriel Seaver <gabrielseaver9678@gmail.com>
Date: Wed, 24 Mar 2021 20:34:05 -0400
Subject: [PATCH] commands finally work

---
 .../team1711/swerve/commands/AutonDrive.class | Bin 1791 -> 2059 bytes
 .../swerve/commands/AutonDriveSimple.class    | Bin 2044 -> 2164 bytes
 .../team1711/swerve/commands/AutonTurn.class  | Bin 2250 -> 2332 bytes
 .../swerve/subsystems/SwerveWheel.class       | Bin 1557 -> 1561 bytes
 swervelib/build.gradle                        |   2 +-
 .../team1711/swerve/commands/AutonDrive.class | Bin 1779 -> 2047 bytes
 .../swerve/commands/AutonDriveSimple.class    | Bin 2044 -> 2164 bytes
 .../team1711/swerve/commands/AutonTurn.class  | Bin 2254 -> 2336 bytes
 .../swerve/commands/AutonWheelTurn.class      | Bin 1342 -> 1298 bytes
 .../swerve/subsystems/SwerveWheel.class       | Bin 1566 -> 1570 bytes
 .../build/docs/javadoc/allclasses-index.html  |   4 +--
 swervelib/build/docs/javadoc/allclasses.html  |   2 +-
 .../build/docs/javadoc/allpackages-index.html |   4 +--
 .../build/docs/javadoc/constant-values.html   |   4 +--
 .../build/docs/javadoc/deprecated-list.html   |   4 +--
 .../team1711/swerve/commands/AutonDrive.html  |  32 ++++++++++++++----
 .../team1711/swerve/commands/AutonTurn.html   |   4 +--
 .../swerve/commands/FrameOfReference.html     |   4 +--
 .../swerve/commands/package-summary.html      |   4 +--
 .../swerve/commands/package-tree.html         |   4 +--
 .../swerve/subsystems/AutoSwerveDrive.html    |   4 +--
 .../swerve/subsystems/AutoSwerveWheel.html    |   4 +--
 .../swerve/subsystems/SwerveDrive.html        |   4 +--
 .../swerve/subsystems/SwerveWheel.html        |   4 +--
 .../swerve/subsystems/package-summary.html    |   4 +--
 .../swerve/subsystems/package-tree.html       |   4 +--
 .../frc/team1711/swerve/util/Angles.html      |   4 +--
 .../frc/team1711/swerve/util/Vector.html      |   4 +--
 .../team1711/swerve/util/package-summary.html |   4 +--
 .../team1711/swerve/util/package-tree.html    |   4 +--
 swervelib/build/docs/javadoc/help-doc.html    |   4 +--
 swervelib/build/docs/javadoc/index-all.html   |   6 ++--
 swervelib/build/docs/javadoc/index.html       |   6 ++--
 .../build/docs/javadoc/member-search-index.js |   2 +-
 .../docs/javadoc/member-search-index.zip      | Bin 1088 -> 1091 bytes
 .../build/docs/javadoc/overview-summary.html  |   4 +--
 .../build/docs/javadoc/overview-tree.html     |   4 +--
 .../docs/javadoc/package-search-index.zip     | Bin 261 -> 261 bytes
 .../build/docs/javadoc/type-search-index.zip  | Bin 327 -> 327 bytes
 ...-javadoc.jar => swervelib-2.0-javadoc.jar} | Bin 437613 -> 437786 bytes
 .../{swervelib-1.7.jar => swervelib-2.0.jar}  | Bin 13732 -> 13950 bytes
 .../test/classes/swerve.LibraryTest.html      |   2 +-
 swervelib/build/reports/tests/test/index.html |   2 +-
 .../reports/tests/test/packages/swerve.html   |   2 +-
 .../test/TEST-swerve.LibraryTest.xml          |   2 +-
 .../test-results/test/binary/results.bin      | Bin 106 -> 106 bytes
 .../compileJava/source-classes-mapping.txt    |  20 +++++------
 swervelib/build/tmp/javadoc/javadoc.options   |   4 +--
 .../team1711/swerve/commands/AutonDrive.java  |  28 ++++++++++++++-
 .../swerve/commands/AutonDriveSimple.java     |  13 ++++---
 .../team1711/swerve/commands/AutonTurn.java   |  17 +++++++---
 .../swerve/subsystems/SwerveWheel.java        |  10 +++---
 52 files changed, 147 insertions(+), 87 deletions(-)
 rename swervelib/build/libs/{swervelib-1.7-javadoc.jar => swervelib-2.0-javadoc.jar} (83%)
 rename swervelib/build/libs/{swervelib-1.7.jar => swervelib-2.0.jar} (51%)

diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class
index 3428ec3a93a9c230d5f4e46c8bab19ff3e0eed9d..5692e60ac459a8f7b84e9cc4611abfd9e543eccb 100644
GIT binary patch
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diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDriveSimple.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonDriveSimple.class
index 6ca0abf89fb13a8e5548b42981102f01592c28a3..69cdd6bd3c29b3a5b546ca7d3d0094ca5a4ef7f8 100644
GIT binary patch
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diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonTurn.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonTurn.class
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GIT binary patch
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diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class
index aea4f4890bd196aeee7beaf8ffe4ad76a13090cc..93e72e7a1c4dcc7bd1d9706920615dd0accc1406 100644
GIT binary patch
delta 394
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yk3tx5rQ|V>(qC-p2P@!X<3F~ju$yW`j%(9!wTKgX8LISIUHQrv#5R?5?0f-w`7{Fn

delta 400
zcmX|-y-EW?6ot?JOxA4HO(SF@ag88^tQaB2jT@sTy73QeY%LS96Ku5f0c?apL<<`W
zYnw$Zd;n_;AHdF6Q1Q$XQ{6Lj=Y02`xpl4``|bDT6+jbvPxh5AAN2Fgrh_(CW!ae4
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zWgH^H04?OmX^=-69E`InwS*8_s+v>=W)Ra8^4%=Dbhcn&g?$^Qll?)>&@9tL2~z-T
z9eMUlwKXXg^(jxP7UhQ-AFK`OMXaZEms@mFx?*OaeWPH|(H;5EI9d7q3InQCm1=^G
zJLDNpDS0C5@juodVl5Q7wpx0GEh%hIjYx5AMpH5Ez)i5of7+6tqGs*zO2_UWx_>my

diff --git a/swervelib/build.gradle b/swervelib/build.gradle
index 45ccbde..ea7769d 100644
--- a/swervelib/build.gradle
+++ b/swervelib/build.gradle
@@ -39,5 +39,5 @@ java {
     withJavadocJar()
 }
 
-version = '1.7'
+version = '2.0'
 group = 'io.github.frc1711'
\ No newline at end of file
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDrive.class
index 5b8647e63f8c90ee4f1c9d35d7476e7317fdb3a1..3d66546a0dde935acd2e59a57c664ef092f55181 100644
GIT binary patch
delta 885
zcmYLHOK(z95dIG5UJl$|N~PLDZA-;g%0;9PwG?fA6#B5#R$H5}#7YdY*2Z8=+>p3%
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delta 619
zcmXw$O-~b16o#MaeB9|UBNkCws$wfzXhDj~hovBBfsm+)shciq+n7dE33T7Ytt&GB
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P33ANH=mxWrkCFci_;^$8

diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDriveSimple.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDriveSimple.class
index 277c66e1f4a6bd782c2b2c2d9e3ad09f9cb7c707..9cda1d141a59d18c102fff8fd991e0b66c7f6929 100644
GIT binary patch
delta 1009
zcmZuwOHUI~6#j0f?R18bmPbnj6#>JeP>NDCiabioOUkRoD!y=}Lm4P7DI*DqN&kQw
zosAmyZb*y|8e*agml}8e0JrX48soV$4Q!mr{mz|p&V1jw-?V?czkQ{ze?NW(a0LY!
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delta 782
zcmYLH&rcIU6#ll`-D#JhTWX6+E1{Kuv_*q08h@4+3PqtH1q2l<YH3IaCWebA;(s6+
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E1?J#;cmMzZ

diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonTurn.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonTurn.class
index 47f4af66fb4977f21d4497c933e09d6af767ba38..04509ce4d8d1132083e9f5f8f9a3682c0f81bce9 100644
GIT binary patch
delta 1223
zcmZ8gOHUI~6#izW?X+bmrMyHysA4IDf;<#Kg(B~_T6};HEKq@HkPwIq7hSk;t+UXL
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delta 1149
zcmZ8gOHUJF6g|_g)9H-U0;M2TYpE!Y7N{Ts3P^dCm*rJZ5w(=k5P|_hFfO|^F3Bu(
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diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonWheelTurn.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonWheelTurn.class
index a14e4d4da6bfbf1c095c7802b45ec5c2c356e3b1..d3754de32597f0efc9efd7944cd4708a4ba57c53 100644
GIT binary patch
delta 534
zcmZ{gO;W-@5QX1N2!S}FA|!}n;xEddL<KBe$ilT7&*2%^x^`Bcz$$lCDGL@Hz*Be;
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delta 592
zcmYk2yG{a85QhJ=3oNWFAaYl^cy|%GsGw4a3AKf9V9ZKvEQFrQ#M-TR0vj6=rLf=u
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diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveWheel.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveWheel.class
index 954b74d8b9b7d45bfa0847c7f6e09ca7384b808e..d79c1216f6812dc67d76da0ae4952537aba4235f 100644
GIT binary patch
delta 444
zcmX|*%PvDv6o$WZ+1;lnn;^uY1Gl2;eyi5Cu1ATOkuVezQ_Oh<IU^GTuOJaI@Bkzp
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W{S$J#O1oD>#*;Ty(G#-XW%3(KzcbkY

delta 450
zcmX|+$udJh7=^z(v`(&;DvA<PMa*)M5HZ9UQ%q%JVZqY$1lGKQx(mB3vhe_^Qp&;u
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diff --git a/swervelib/build/docs/javadoc/allclasses-index.html b/swervelib/build/docs/javadoc/allclasses-index.html
index 55daafd..8ba2677 100644
--- a/swervelib/build/docs/javadoc/allclasses-index.html
+++ b/swervelib/build/docs/javadoc/allclasses-index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Classes (swervelib 1.7 API)</title>
+<title>All Classes (swervelib 2.0 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="All Classes (swervelib 1.7 API)";
+            parent.document.title="All Classes (swervelib 2.0 API)";
         }
     }
     catch(err) {
diff --git a/swervelib/build/docs/javadoc/allclasses.html b/swervelib/build/docs/javadoc/allclasses.html
index 220c22a..dd00708 100644
--- a/swervelib/build/docs/javadoc/allclasses.html
+++ b/swervelib/build/docs/javadoc/allclasses.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Classes (swervelib 1.7 API)</title>
+<title>All Classes (swervelib 2.0 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
diff --git a/swervelib/build/docs/javadoc/allpackages-index.html b/swervelib/build/docs/javadoc/allpackages-index.html
index 7e36628..a2142e3 100644
--- a/swervelib/build/docs/javadoc/allpackages-index.html
+++ b/swervelib/build/docs/javadoc/allpackages-index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Packages (swervelib 1.7 API)</title>
+<title>All Packages (swervelib 2.0 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
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 </td>
 </tr>
+<tr id="i1" class="rowColor">
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+<title>frc.team1711.swerve.util Class Hierarchy (swervelib 2.0 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
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+            parent.document.title="frc.team1711.swerve.util Class Hierarchy (swervelib 2.0 API)";
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-<title>API Help (swervelib 1.7 API)</title>
+<title>API Help (swervelib 2.0 API)</title>
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diff --git a/swervelib/build/docs/javadoc/index-all.html b/swervelib/build/docs/javadoc/index-all.html
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@@ -3,7 +3,7 @@
 <html lang="en">
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-<title>Index (swervelib 1.7 API)</title>
+<title>Index (swervelib 2.0 API)</title>
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@@ -290,6 +290,8 @@ <h2 class="title">G</h2>
 </a>
 <h2 class="title">I</h2>
 <dl>
+<dt><span class="memberNameLink"><a href="frc/team1711/swerve/commands/AutonDrive.html#initialize()">initialize()</a></span> - Method in class frc.team1711.swerve.commands.<a href="frc/team1711/swerve/commands/AutonDrive.html" title="class in frc.team1711.swerve.commands">AutonDrive</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="frc/team1711/swerve/commands/AutonTurn.html#initialize()">initialize()</a></span> - Method in class frc.team1711.swerve.commands.<a href="frc/team1711/swerve/commands/AutonTurn.html" title="class in frc.team1711.swerve.commands">AutonTurn</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html#inputDrive(double,double,double,boolean)">inputDrive(double, double, double, boolean)</a></span> - Method in class frc.team1711.swerve.subsystems.<a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></dt>
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-            parent.document.title="Overview (swervelib 1.7 API)";
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index 6508961..c40a6f4 100644
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\ No newline at end of file
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diff --git a/swervelib/build/libs/swervelib-1.7.jar b/swervelib/build/libs/swervelib-2.0.jar
similarity index 51%
rename from swervelib/build/libs/swervelib-1.7.jar
rename to swervelib/build/libs/swervelib-2.0.jar
index 3680c6e3f3e055606d964bf7a3fda19c024dbbcc..b8afa2e643417ee4d673cafb48379c1971078e0c 100644
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diff --git a/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html b/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html
index 537fb99..6f99685 100644
--- a/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html
+++ b/swervelib/build/reports/tests/test/classes/swerve.LibraryTest.html
@@ -89,7 +89,7 @@ <h2>Tests</h2>
 <input id="line-wrapping-toggle" type="checkbox" autocomplete="off"/>
 </label>
 </div>Generated by 
-<a href="http://www.gradle.org">Gradle 6.7.1</a> at Mar 24, 2021, 12:46:45 PM</p>
+<a href="http://www.gradle.org">Gradle 6.7.1</a> at Mar 24, 2021, 8:33:46 PM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/reports/tests/test/index.html b/swervelib/build/reports/tests/test/index.html
index 23ba4b1..7fd7dad 100644
--- a/swervelib/build/reports/tests/test/index.html
+++ b/swervelib/build/reports/tests/test/index.html
@@ -138,7 +138,7 @@ <h2>Classes</h2>
 <input id="line-wrapping-toggle" type="checkbox" autocomplete="off"/>
 </label>
 </div>Generated by 
-<a href="http://www.gradle.org">Gradle 6.7.1</a> at Mar 24, 2021, 12:46:45 PM</p>
+<a href="http://www.gradle.org">Gradle 6.7.1</a> at Mar 24, 2021, 8:33:46 PM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/reports/tests/test/packages/swerve.html b/swervelib/build/reports/tests/test/packages/swerve.html
index be21536..2d68329 100644
--- a/swervelib/build/reports/tests/test/packages/swerve.html
+++ b/swervelib/build/reports/tests/test/packages/swerve.html
@@ -108,7 +108,7 @@ <h2>Classes</h2>
 <input id="line-wrapping-toggle" type="checkbox" autocomplete="off"/>
 </label>
 </div>Generated by 
-<a href="http://www.gradle.org">Gradle 6.7.1</a> at Mar 24, 2021, 12:46:45 PM</p>
+<a href="http://www.gradle.org">Gradle 6.7.1</a> at Mar 24, 2021, 8:33:46 PM</p>
 </div>
 </div>
 </body>
diff --git a/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml b/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml
index 2a43a2a..434f196 100644
--- a/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml
+++ b/swervelib/build/test-results/test/TEST-swerve.LibraryTest.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<testsuite name="swerve.LibraryTest" tests="1" skipped="1" failures="0" errors="0" timestamp="2021-03-24T16:46:45" hostname="GABRIEL-LAPTOP" time="0.0">
+<testsuite name="swerve.LibraryTest" tests="1" skipped="1" failures="0" errors="0" timestamp="2021-03-25T00:33:46" hostname="GABRIEL-LAPTOP" time="0.0">
   <properties/>
   <testcase name="testSomeLibraryMethod" classname="swerve.LibraryTest" time="0.0">
     <skipped/>
diff --git a/swervelib/build/test-results/test/binary/results.bin b/swervelib/build/test-results/test/binary/results.bin
index d58ce1bee94ae87dc6747125acf9794608f26bf9..5f68d42d203f43c4a4920c9876b5948e2d1ad0da 100644
GIT binary patch
delta 18
Xcmd1GnxM;)c2>`JqM->Zh-Lr)JMsn1

delta 18
Xcmd1GnxM;)syI(`qM->Zh-Lr)Hc$mC

diff --git a/swervelib/build/tmp/compileJava/source-classes-mapping.txt b/swervelib/build/tmp/compileJava/source-classes-mapping.txt
index fe2b3cd..3e6bfbb 100644
--- a/swervelib/build/tmp/compileJava/source-classes-mapping.txt
+++ b/swervelib/build/tmp/compileJava/source-classes-mapping.txt
@@ -1,22 +1,22 @@
 frc/team1711/swerve/commands/FrameOfReference.java
  frc.team1711.swerve.commands.FrameOfReference
+frc/team1711/swerve/util/Angles.java
+ frc.team1711.swerve.util.Angles
+frc/team1711/swerve/util/Vector.java
+ frc.team1711.swerve.util.Vector
 frc/team1711/swerve/subsystems/AutoSwerveDrive.java
  frc.team1711.swerve.subsystems.AutoSwerveDrive
 frc/team1711/swerve/subsystems/SwerveDrive.java
  frc.team1711.swerve.subsystems.SwerveDrive
-frc/team1711/swerve/commands/AutonDriveSimple.java
- frc.team1711.swerve.commands.AutonDriveSimple
+frc/team1711/swerve/subsystems/AutoSwerveWheel.java
+ frc.team1711.swerve.subsystems.AutoSwerveWheel
 frc/team1711/swerve/commands/AutonTurn.java
  frc.team1711.swerve.commands.AutonTurn
-frc/team1711/swerve/commands/AutonWheelTurn.java
- frc.team1711.swerve.commands.AutonWheelTurn
 frc/team1711/swerve/subsystems/SwerveWheel.java
  frc.team1711.swerve.subsystems.SwerveWheel
-frc/team1711/swerve/util/Angles.java
- frc.team1711.swerve.util.Angles
-frc/team1711/swerve/subsystems/AutoSwerveWheel.java
- frc.team1711.swerve.subsystems.AutoSwerveWheel
+frc/team1711/swerve/commands/AutonDriveSimple.java
+ frc.team1711.swerve.commands.AutonDriveSimple
+frc/team1711/swerve/commands/AutonWheelTurn.java
+ frc.team1711.swerve.commands.AutonWheelTurn
 frc/team1711/swerve/commands/AutonDrive.java
  frc.team1711.swerve.commands.AutonDrive
-frc/team1711/swerve/util/Vector.java
- frc.team1711.swerve.util.Vector
diff --git a/swervelib/build/tmp/javadoc/javadoc.options b/swervelib/build/tmp/javadoc/javadoc.options
index a9d2e86..87e43a7 100644
--- a/swervelib/build/tmp/javadoc/javadoc.options
+++ b/swervelib/build/tmp/javadoc/javadoc.options
@@ -1,9 +1,9 @@
 -classpath 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\build\\classes\\java\\main;C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\build\\resources\\main;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\org.apache.commons\\commons-math3\\3.6.1\\e4ba98f1d4b3c80ec46392f25e094a6a2e58fcbf\\commons-math3-3.6.1.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\edu.wpi.first.wpilibj\\wpilibj-java\\2021.2.2\\1a8283edbaa8a7c0cad67a3461475577cd9b1e7a\\wpilibj-java-2021.2.2.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\edu.wpi.first.wpilibNewCommands\\wpilibNewCommands-java\\2021.2.2\\4ffa94167cf6c07336c9c8bcaff44dabe3ee492c\\wpilibNewCommands-java-2021.2.2.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.guava\\guava\\29.0-jre\\801142b4c3d0f0770dd29abea50906cacfddd447\\guava-29.0-jre.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.guava\\failureaccess\\1.0.1\\1dcf1de382a0bf95a3d8b0849546c88bac1292c9\\failureaccess-1.0.1.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.guava\\listenablefuture\\9999.0-empty-to-avoid-conflict-with-guava\\b421526c5f297295adef1c886e5246c39d4ac629\\listenablefuture-9999.0-empty-to-avoid-conflict-with-guava.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.code.findbugs\\jsr305\\3.0.2\\25ea2e8b0c338a877313bd4672d3fe056ea78f0d\\jsr305-3.0.2.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\org.checkerframework\\checker-qual\\2.11.1\\8c43bf8f99b841d23aadda6044329dad9b63c185\\checker-qual-2.11.1.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.errorprone\\error_prone_annotations\\2.3.4\\dac170e4594de319655ffb62f41cbd6dbb5e601e\\error_prone_annotations-2.3.4.jar;C:\\Users\\gabri\\.gradle\\caches\\modules-2\\files-2.1\\com.google.j2objc\\j2objc-annotations\\1.3\\ba035118bc8bac37d7eff77700720999acd9986d\\j2objc-annotations-1.3.jar'
 -d 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\build\\docs\\javadoc'
--doctitle 'swervelib 1.7 API'
+-doctitle 'swervelib 2.0 API'
 -notimestamp 
 -quiet 
--windowtitle 'swervelib 1.7 API'
+-windowtitle 'swervelib 2.0 API'
 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\src\\main\\java\\frc\\team1711\\swerve\\commands\\AutonDrive.java'
 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\src\\main\\java\\frc\\team1711\\swerve\\commands\\AutonDriveSimple.java'
 'C:\\all\\programming\\Robotics\\Swerve Library\\swervelib\\src\\main\\java\\frc\\team1711\\swerve\\commands\\AutonTurn.java'
diff --git a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDrive.java b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDrive.java
index d1a5ef9..b2919ad 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDrive.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDrive.java
@@ -16,7 +16,20 @@
  * @author Gabriel Seaver
  */
 public class AutonDrive extends SequentialCommandGroup {
-    
+
+    private final AutoSwerveDrive swerveDrive;
+
+    private final FrameOfReference frameOfReference;
+
+    // Because directionInput is not based on the gyro, but the robot relative direction
+    // may be depending on the frame of reference, they must be stored separately b/c
+    // the gyro should not be accessed in the constructor in case the object is initialized
+    // before the command is actually used
+    private final double
+            directionInput,
+            distance,
+            speed;
+
     /**
      * Constructs an {@code AutonDrive} command.
      * @param swerveDrive       The {@link AutoSwerveDrive} drive train.
@@ -29,10 +42,23 @@ public class AutonDrive extends SequentialCommandGroup {
      * @param frameOfReference  The {@link FrameOfReference} for this autonomous command.
      */
     public AutonDrive (AutoSwerveDrive swerveDrive, double direction, double distance, double speed, FrameOfReference frameOfReference) {
+        this.swerveDrive = swerveDrive;
+        this.distance = distance;
+        this.speed = speed;
+        this.frameOfReference = frameOfReference;
+        directionInput = direction;
+    }
+
+    // This code cannot be called in constructor because gyro angle may change
+    // between object initialization and when the command is first called
+    @Override
+    public void initialize () {
+        double direction = directionInput;
         if (frameOfReference == FrameOfReference.FIELD) direction -= swerveDrive.getGyroAngle();
         addCommands(
                 new AutonWheelTurn(swerveDrive, direction),
                 new AutonDriveSimple(swerveDrive, direction, distance, speed));
+        super.initialize();
     }
     
     /**
diff --git a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDriveSimple.java b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDriveSimple.java
index 20dfe5c..a52d362 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDriveSimple.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDriveSimple.java
@@ -18,17 +18,18 @@
  */
 class AutonDriveSimple extends CommandBase {
     
-    private static final double TURN_SPEED = 0.1;
+    private static final double CORRECTION_SCALAR = .007;
     
     private final AutoSwerveDrive swerveDrive;
     
     private boolean finished;
     
     private final double
-            initalGyroAngle,
             direction,
             distance,
             speed;
+
+    private double initialGyroAngle;
     
     /**
      * Constructs an {@code AutonDriveSimple} command.
@@ -46,7 +47,6 @@ class AutonDriveSimple extends CommandBase {
         this.distance = distance;
         this.speed = speed;
         
-        initalGyroAngle = swerveDrive.getGyroAngle();
         finished = false;
         
         addRequirements(swerveDrive);
@@ -56,6 +56,9 @@ class AutonDriveSimple extends CommandBase {
     public void initialize () {
         swerveDrive.stop();
         swerveDrive.setDistanceReference();
+        initialGyroAngle = swerveDrive.getGyroAngle();
+        System.out.println(initialGyroAngle);
+        System.out.println(direction);
     }
     
     @Override
@@ -69,8 +72,8 @@ public void execute () {
     }
     
     private double getCorrectionTurn () {
-        double correctionTurn = Angles.wrapDegreesZeroCenter(initalGyroAngle - swerveDrive.getGyroAngle());
-        return correctionTurn > 0 ? TURN_SPEED : -TURN_SPEED;
+        double correctionTurn = Angles.wrapDegreesZeroCenter(initialGyroAngle - swerveDrive.getGyroAngle());
+        return correctionTurn * CORRECTION_SCALAR;
     }
     
     @Override
diff --git a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonTurn.java b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonTurn.java
index 050d678..7761b29 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonTurn.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonTurn.java
@@ -22,10 +22,18 @@ public class AutonTurn extends CommandBase {
     
     private boolean finished;
     
+    private final FrameOfReference frameOfReference;
+
+    // Because directionInput is not based on the gyro, but the absolute relative direction
+    // may be depending on the frame of reference, they must be stored separately b/c
+    // the gyro should not be accessed in the constructor in case the object is initialized
+    // before the command is actually used
     private final double
-            direction,
+            directionInput,
             turnSpeed;
     
+    private double direction; // Robot relative direction
+    
     /**
      * Constructs a new {@code AutonTurn}.
      * @param swerveDrive   The {@link AutoSwerveDrive} drive train
@@ -40,10 +48,10 @@ public AutonTurn (AutoSwerveDrive swerveDrive, double direction, double turnSpee
         
         this.swerveDrive = swerveDrive;
         
-        if (frameOfReference == FrameOfReference.ROBOT) direction += swerveDrive.getGyroAngle();
-        this.direction = direction;
+        this.frameOfReference = frameOfReference;
+        this.directionInput = direction;
         this.turnSpeed = turnSpeed;
-        
+
         finished = false;
         
         addRequirements(swerveDrive);
@@ -53,6 +61,7 @@ public AutonTurn (AutoSwerveDrive swerveDrive, double direction, double turnSpee
     public void initialize () {
         swerveDrive.stop();
         swerveDrive.setDistanceReference();
+        if (frameOfReference == FrameOfReference.ROBOT) direction = directionInput + swerveDrive.getGyroAngle();
     }
     
     @Override
diff --git a/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveWheel.java b/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveWheel.java
index d2f0d20..e868d15 100644
--- a/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveWheel.java
+++ b/swervelib/src/main/java/frc/team1711/swerve/subsystems/SwerveWheel.java
@@ -39,7 +39,7 @@ abstract public class SwerveWheel {
      */
     protected final void steerAndDrive (double targetDirection, double speed) {
         if (speed < 0 || speed > 1) throw new IllegalArgumentException("speed should be within range [0, 1]");
-        
+
         // Finds the number of degrees we need to turn and places on interval [-180, 180)
         double moveDirection = Angles.wrapDegreesZeroCenter(targetDirection - getDirection());
         
@@ -48,12 +48,12 @@ protected final void steerAndDrive (double targetDirection, double speed) {
         int reverse = 1;
         if (Math.abs(moveDirection) > 90) {
             reverse = -1;
-            if (moveDirection > 0) moveDirection -= 180;
-            else moveDirection += 180;
+            moveDirection += 180;
         }
-        
+        final double setDir = Angles.wrapDegrees(moveDirection + getDirection());
+
         // Sets drive speed and direction
-        setDirection(Angles.wrapDegrees(moveDirection + getDirection()));
+        setDirection(setDir);
         setDriveSpeed(speed * reverse);
     }