From c9383127cce8f83c7fac8838afdc7a7f603556d3 Mon Sep 17 00:00:00 2001
From: BenG49 <ben@goldfisher.com>
Date: Sat, 27 Jan 2024 21:48:31 -0500
Subject: [PATCH] Make x mode states constant

---
 .../robot/commands/swerve/SwerveDriveXMode.java  | 16 +++++++++-------
 1 file changed, 9 insertions(+), 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
index 09150a3f..7d8efcd6 100644
--- 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);
     }
 }