We drive and auto iaim

Author: falOn-Dev

src/main/deploy/swerve/crescendo/controllerproperties.json

@@ -2,7 +2,7 @@
   "angleJoystickRadiusDeadband": 0.5,
   "heading": {
     "p": 1.0,
-    "i": 0.0,
+    "i": 0.0005,
     "d": 0.0
   }
 }

src/main/java/frc/robot/commands/intake/FeedLauncherCommand.kt

@@ -21,7 +21,7 @@ class FeedLauncherCommand : Command() {
 
     override fun isFinished(): Boolean {
         // TODO: Make this return true when this Command no longer needs to run execute()
-        return LauncherSubsystem.state != LauncherSubsystem.State.FIRING
+        return false
     }
 
     override fun end(interrupted: Boolean) {

src/main/java/frc/robot/subsystems/SwerveSubsystem.kt

@@ -69,7 +69,7 @@ object SwerveSubsystem : SubsystemBase() {
             throw RuntimeException("Error creating swerve drive", e)
         }
 
-        swerveDrive.setHeadingCorrection(false)
+        swerveDrive.setHeadingCorrection(true)
         swerveDrive.modules.forEach {
             it.setAntiJitter(false)
         }