From a8020a69ab8d8d87f56d945f67670b4968401eb1 Mon Sep 17 00:00:00 2001
From: Jack-Haefele <113944276+Jack-Haefele@users.noreply.github.com>
Date: Thu, 1 Feb 2024 19:06:44 -0600
Subject: [PATCH 1/5] created set heading correction in drive subsystem

---
 src/main/java/frc/robot/subsystems/Drive.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 142e3eb5..aaf9c6e1 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -77,6 +77,10 @@ public void enterXMode() {
     drive.lockPose();
   }
 
+  public void setHeadingCorrection(boolean state) {
+    drive.setHeadingCorrection(state);
+  }
+
   /**
    * Takes [-1, 1] joystick-like inputs and converts them to a {@link ChassisSpeeds} object that
    * represents the commanded robot velocities

From 49a55b8b12ebc6cdbf16cbe9f48d1cdebbe93c9c Mon Sep 17 00:00:00 2001
From: Jack-Haefele <113944276+Jack-Haefele@users.noreply.github.com>
Date: Thu, 1 Feb 2024 19:11:41 -0600
Subject: [PATCH 2/5] put heading correction in initialize and end

---
 .../commands/drive/DriveFieldOrientedHeadingSnapping.java | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/drive/DriveFieldOrientedHeadingSnapping.java b/src/main/java/frc/robot/commands/drive/DriveFieldOrientedHeadingSnapping.java
index c2c8df73..5c8a41a4 100644
--- a/src/main/java/frc/robot/commands/drive/DriveFieldOrientedHeadingSnapping.java
+++ b/src/main/java/frc/robot/commands/drive/DriveFieldOrientedHeadingSnapping.java
@@ -37,7 +37,9 @@ public DriveFieldOrientedHeadingSnapping() {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    drive.setHeadingCorrection(true);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -78,7 +80,9 @@ public void execute() {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drive.setHeadingCorrection(false);
+  }
 
   // Returns true when the command should end.
   @Override

From 5e1659b8c62bb723835012feb59b418f3a3f0dd9 Mon Sep 17 00:00:00 2001
From: Jack-Haefele <113944276+Jack-Haefele@users.noreply.github.com>
Date: Thu, 1 Feb 2024 19:11:48 -0600
Subject: [PATCH 3/5] javadoc

---
 src/main/java/frc/robot/subsystems/Drive.java | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index aaf9c6e1..d7f3301a 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -77,6 +77,11 @@ public void enterXMode() {
     drive.lockPose();
   }
 
+  /**
+   * Set the heading correction capabilitys of YAGSL.
+   *
+   * @param state SwerveDrive.headingCorrection state
+   */
   public void setHeadingCorrection(boolean state) {
     drive.setHeadingCorrection(state);
   }

From 98456085ad8fee8e9468479d1a08eea2c12ec886 Mon Sep 17 00:00:00 2001
From: Jack-Haefele <113944276+Jack-Haefele@users.noreply.github.com>
Date: Thu, 1 Feb 2024 19:33:47 -0600
Subject: [PATCH 4/5] javadoc

---
 src/main/java/frc/robot/subsystems/Drive.java | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index d7f3301a..372c4a04 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -78,9 +78,10 @@ public void enterXMode() {
   }
 
   /**
-   * Set the heading correction capabilitys of YAGSL.
+   * Set the heading correction capabilities of YAGSL. Should only be enabled when heading
+   * correction capabilities are in use
    *
-   * @param state SwerveDrive.headingCorrection state
+   * @param state {@link swervelib.SwerveDrive.headingCorrection} state
    */
   public void setHeadingCorrection(boolean state) {
     drive.setHeadingCorrection(state);

From 479a8e8837159ba2576a1329e51e55338e2e121f Mon Sep 17 00:00:00 2001
From: Jack-Haefele <113944276+Jack-Haefele@users.noreply.github.com>
Date: Thu, 1 Feb 2024 19:36:58 -0600
Subject: [PATCH 5/5] javadoc

---
 src/main/java/frc/robot/subsystems/Drive.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 372c4a04..6d4877ad 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -81,7 +81,7 @@ public void enterXMode() {
    * Set the heading correction capabilities of YAGSL. Should only be enabled when heading
    * correction capabilities are in use
    *
-   * @param state {@link swervelib.SwerveDrive.headingCorrection} state
+   * @param state SwerveDrive.headingCorrection state
    */
   public void setHeadingCorrection(boolean state) {
     drive.setHeadingCorrection(state);