Didn't realise the driving part was in DrivetrainCommand

Author: literal-gargoyle

src/main/java/frc/robot/Commands/DrivetrainCommand.java

@@ -35,6 +35,7 @@ public static enum Position {
           .withDriveRequestType(
               SwerveModule.DriveRequestType
                   .OpenLoopVoltage); // Use open-loop control for drive motors
+  public static final double DEADBAND = 0.05;
 
   public DrivetrainCommand(
       CommandSwerveDrivetrain subsystem,

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

@@ -45,12 +45,12 @@ private void configureBindings() {
 
     // Drivetrain Teleop drive with controller inputs
     drivetrain.setDefaultCommand(
-        drivetrain.applyRequest(
-            () ->
-                drive
-                    .withVelocityX(-controller.getLeftY() * MaxSpeed)
-                    .withVelocityY(-controller.getLeftX() * MaxSpeed)
-                    .withRotationalRate(-controller.getRightX() * MaxAngularRate)));
+        new DrivetrainCommand(
+            drivetrain,
+            DrivetrainCommand.Position.TELEOP,
+            controller.getLeftX(),
+            controller.getLeftY(),
+            controller.getRightX()));
 
     // Buttons