changed default speed (new) (#133)

Author: The-REAL-Bol

src/main/java/com/team6962/lib/swerve/commands/XBoxTeleopSwerveCommand.java

@@ -240,8 +240,7 @@ protected ChassisSpeeds getDrivenVelocity() {
    * @return The translation speed scalar (0.0 to 1.0)
    */
   private double getNonFineControlTranslationScalar() {
-    return MathUtil.interpolate(
-        constants.DefaultTranslationalSpeed, constants.BoostTranslationalSpeed, getBoost());
+    return constants.DefaultTranslationalSpeed;
   }
 
   /**
@@ -251,11 +250,7 @@ private double getNonFineControlTranslationScalar() {
    * @return The angular speed scalar (0.0 to 1.0, or higher with super boost)
    */
   private double getNonFineControlAngularScalar() {
-    return MathUtil.interpolate(
-        MathUtil.interpolate(
-            constants.DefaultAngularSpeed, constants.BoostAngularSpeed, getBoost()),
-        Math.signum(constants.DefaultAngularSpeed),
-        getAngularSuperBoost());
+    return constants.DefaultAngularSpeed;
   }
 
   /**

src/main/java/com/team6962/lib/swerve/config/XBoxTeleopSwerveConstants.java

@@ -50,7 +50,7 @@ public class XBoxTeleopSwerveConstants implements Cloneable {
    *   <li><b>Maximum Value:</b> 1.0
    * </ul>
    */
-  public double DefaultTranslationalSpeed = 0.7;
+  public double DefaultTranslationalSpeed = 1.0;
 
   /**
    * The angular speed used during teleop when not boostin or using the D-pad for fine control. This
@@ -62,31 +62,7 @@ public class XBoxTeleopSwerveConstants implements Cloneable {
    *   <li><b>Maximum Value:</b> 1.0
    * </ul>
    */
-  public double DefaultAngularSpeed = 0.7;
-
-  /**
-   * The translational speed used during teleop when boosting and not using the D-pad for fine
-   * control. This is represented as a fraction of the maximum robot speed, where 1.0 is the maximum
-   * speed and 0.0 is stationary.
-   *
-   * <ul>
-   *   <li><b>Minimum Value:</b> 0.0
-   *   <li><b>Maximum Value:</b> 1.0
-   * </ul>
-   */
-  public double BoostTranslationalSpeed = 1.0;
-
-  /**
-   * The angular speed used during teleop when boosting and not using the D-pad for fine control.
-   * This is represented as a fraction of the maximum robot angular speed, where 1.0 is the maximum
-   * angular speed and 0.0 is stationary.
-   *
-   * <ul>
-   *   <li><b>Minimum Value:</b> 0.0
-   *   <li><b>Maximum Value:</b> 1.0
-   * </ul>
-   */
-  public double BoostAngularSpeed = 1.0;
+  public double DefaultAngularSpeed = 1.0;
 
   /**
    * When true, the D-pad on the Xbox controller will enable fine control mode, where the robot
@@ -258,28 +234,6 @@ public XBoxTeleopSwerveConstants withDefaultAngularSpeed(double defaultAngularSp
     return this;
   }
 
-  /**
-   * Sets the boost translational speed, and returns this XBoxTeleopSwerveConstants for chaining.
-   *
-   * @param boostTranslationalSpeed The boost translational speed (0.0-1.0)
-   * @return This XBoxTeleopSwerveConstants object
-   */
-  public XBoxTeleopSwerveConstants withBoostTranslationalSpeed(double boostTranslationalSpeed) {
-    BoostTranslationalSpeed = boostTranslationalSpeed;
-    return this;
-  }
-
-  /**
-   * Sets the boost angular speed, and returns this XBoxTeleopSwerveConstants for chaining.
-   *
-   * @param boostAngularSpeed The boost angular speed (0.0-1.0)
-   * @return This XBoxTeleopSwerveConstants object
-   */
-  public XBoxTeleopSwerveConstants withBoostAngularSpeed(double boostAngularSpeed) {
-    BoostAngularSpeed = boostAngularSpeed;
-    return this;
-  }
-
   /**
    * Sets whether fine control is enabled, and returns this XBoxTeleopSwerveConstants for chaining.
    *