Make x mode states constant

StuyPulse · Jan 28, 2024 · c938312 · c938312
1 parent 28c4c83
commit c938312
Showing 1 changed file with 9 additions and 7 deletions.
diff --git a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveXMode.java b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveXMode.java
@@ -7,6 +7,15 @@
 import edu.wpi.first.wpilibj2.command.Command;
 
 public class SwerveDriveXMode extends Command {
+
+    // { front right, front left, back right, back left }
+    private static final SwerveModuleState[] states = new SwerveModuleState[] {
+        new SwerveModuleState(0, Rotation2d.fromDegrees(225)),
+        new SwerveModuleState(0, Rotation2d.fromDegrees(315)),
+        new SwerveModuleState(0, Rotation2d.fromDegrees(45)),
+        new SwerveModuleState(0, Rotation2d.fromDegrees(135))
+    };
+
     private final SwerveDrive swerve;
 
     public SwerveDriveXMode() {
@@ -16,13 +25,6 @@ public SwerveDriveXMode() {
 
     @Override
     public void execute() {
-        SwerveModuleState[] states = new SwerveModuleState[] {
-            //{front right, front left, back right, back left}
-            new SwerveModuleState(0,Rotation2d.fromDegrees(225)),
-            new SwerveModuleState(0,Rotation2d.fromDegrees(315)),
-            new SwerveModuleState(0,Rotation2d.fromDegrees(45)),
-            new SwerveModuleState(0,Rotation2d.fromDegrees(135))
-        };
         swerve.setModuleStates(states);
     }
 }