Zero Gyro Trigger

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

@@ -6,7 +6,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RepeatCommand;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.lib.Controller;
 import frc.robot.commands.swerve.BrakeMode;
 import frc.robot.commands.swerve.Drive;
@@ -20,7 +19,7 @@ public class RobotContainer {
 
  private Swerve swerve;
  private Limelight limelight;
- private CommandXboxController driverOne;
+ private Controller driverOne;
 
  public RobotContainer () {
 
@@ -35,8 +34,6 @@ public RobotContainer () {
 
  private void configureCommands () {
 
- this.driverOne.leftBumper().whileTrue(new RepeatCommand(new InstantCommand(this.swerve::lock, this.swerve)));
-
  this.swerve.setDefaultCommand(new Drive(
  this.swerve, 
  () -> MathUtil.applyDeadband(-this.driverOne.getHID().getLeftY(), Constants.SwerveConstants.TRANSLATION_DEADBAND),
@@ -46,6 +43,9 @@ private void configureCommands () {
  ));
 
  this.limelight.setDefaultCommand(new TrackAprilTags(this.swerve, this.limelight));
+
+ this.driverOne.x().onTrue(new InstantCommand(this.swerve::zeroGyro, this.swerve));
+ this.driverOne.leftBumper().whileTrue(new RepeatCommand(new InstantCommand(this.swerve::lock, this.swerve)));
  }
 
  public Command getAutonomousCommand () { return this.swerve.getAutonomousCommand(); }

src/main/java/frc/robot/subsystems/Swerve.java

@@ -144,6 +144,7 @@ public void driveHeadingLock (Translation2d translation, Rotation2d rotation) {
  public ChassisSpeeds getRobotVelocity () { return this.swerveDrive.getRobotVelocity(); }
  public ChassisSpeeds getFieldVelocity () { return this.swerveDrive.getFieldVelocity(); }
 
+ public void zeroGyro () { this.swerveDrive.zeroGyro(); }
  public void resetOdometry (Pose2d pose) { this.swerveDrive.resetOdometry(pose); }
  public void setChassisSpeeds (ChassisSpeeds chassisSpeeds) { this.swerveDrive.drive(chassisSpeeds); }