got rid of robot container again

notes.md

@@ -0,0 +1,2 @@
+## Github
+- Do this in command line (and push) after adding spotless checking to the github actions `git update-index --chmod=+x ./gradlew`.

src/main/java/frc/robot/Robot.java

@@ -4,45 +4,67 @@
 
 package frc.robot;
 
+import static edu.wpi.first.units.Units.*;
+
 import com.ctre.phoenix6.SignalLogger;
 import dev.doglog.DogLog;
 import dev.doglog.DogLogOptions;
 import edu.wpi.first.epilogue.Epilogue;
 import edu.wpi.first.epilogue.Logged;
-import edu.wpi.first.epilogue.Logged.Strategy;
+import edu.wpi.first.epilogue.NotLogged;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.lib.InputStream;
+import frc.robot.Constants.Ports;
+import frc.robot.Constants.SwerveConstants;
+import frc.robot.commands.Autos;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 /**
  * The methods in this class are called automatically corresponding to each mode, as described in
  * the TimedRobot documentation. If you change the name of this class or the package after creating
  * this project, you must also update the Main.java file in the project.
  */
-@Logged(strategy = Strategy.OPT_IN)
+@Logged
 public class Robot extends TimedRobot {
-  @Logged(name = "Robot Container")
-  private RobotContainer _robotContainer;
+  // controllers
+  private final CommandXboxController _driverController =
+      new CommandXboxController(Ports.driverController);
+
+  // subsystems
+  @Logged(name = "Swerve")
+  private CommandSwerveDrivetrain _swerve = TunerConstants.createDrivetrain();
 
-  private Command _autonomousCommand;
+  @NotLogged private Command _autonomousCommand = Autos.none();
 
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */
   public Robot() {
-    _robotContainer = new RobotContainer();
-
     // set up loggers
     DogLog.setOptions(new DogLogOptions().withNtPublish(true));
-
     Epilogue.bind(this);
-
     SignalLogger.start();
 
     DriverStation.silenceJoystickConnectionWarning(RobotBase.isSimulation());
+
+    _swerve.setDefaultCommand(
+        _swerve.drive(
+            InputStream.of(_driverController::getLeftY)
+                .negate()
+                .scale(SwerveConstants.maxTranslationSpeed.in(MetersPerSecond)),
+            InputStream.of(_driverController::getLeftX)
+                .negate()
+                .scale(SwerveConstants.maxTranslationSpeed.in(MetersPerSecond)),
+            InputStream.of(_driverController::getRightX)
+                .negate()
+                .scale(SwerveConstants.maxAngularSpeed.in(RadiansPerSecond))));
   }
 
   /**
@@ -71,8 +93,6 @@ public void disabledPeriodic() {}
   /** This autonomous runs the autonomous command. */
   @Override
   public void autonomousInit() {
-    _autonomousCommand = _robotContainer.getAutonomousCommand();
-
     // schedule the autonomous command (example)
     if (_autonomousCommand != null) {
       _autonomousCommand.schedule();

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

@@ -73,19 +73,16 @@ public CommandSwerveDrivetrain(
 
     registerTelemetry(
         state -> {
-          DogLog.log("Robot Container/Swerve/Pose", state.Pose);
-          DogLog.log("Robot Container/Swerve/Speeds", state.Speeds);
-          DogLog.log(
-              "Robot Container/Swerve/Desired Speeds",
-              getKinematics().toChassisSpeeds(state.ModuleTargets));
-          DogLog.log("Robot Container/Swerve/Module States", state.ModuleStates);
-          DogLog.log("Robot Container/Swerve/Desired Module States", state.ModuleTargets);
+          DogLog.log("Swerve/Pose", state.Pose);
+          DogLog.log("Swerve/Speeds", state.Speeds);
+          DogLog.log("Swerve/Desired Speeds", getKinematics().toChassisSpeeds(state.ModuleTargets));
+          DogLog.log("Swerve/Module States", state.ModuleStates);
+          DogLog.log("Swerve/Desired Module States", state.ModuleTargets);
 
           double totalDaqs = state.SuccessfulDaqs + state.FailedDaqs;
           totalDaqs = totalDaqs == 0 ? 1 : totalDaqs;
 
-          DogLog.log(
-              "Robot Container/Swerve/Odometry Success %", state.SuccessfulDaqs / totalDaqs * 100);
+          DogLog.log("Swerve/Odometry Success %", state.SuccessfulDaqs / totalDaqs * 100);
         });
 
     if (RobotBase.isSimulation()) startSimThread();