remove speedMultiplier from drive

src/main/java/org/sciborgs1155/lib/InputStream.java

@@ -23,6 +23,15 @@ public static InputStream of(InputStream base) {
     return base;
   }
 
+  /**
+   * Shorthand to return a double value.
+   *
+   * @return The value from {@link #getAsDouble()}.
+   */
+  public default double get() {
+    return getAsDouble();
+  }
+
   /**
    * Transforms the stream outputs by an operator.
    *

src/main/java/org/sciborgs1155/robot/drive/Drive.java

@@ -7,7 +7,6 @@
 import com.kauailabs.navx.frc.AHRS;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
-import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Transform2d;
@@ -33,7 +32,6 @@
 import org.sciborgs1155.lib.InputStream;
 import org.sciborgs1155.robot.Constants;
 import org.sciborgs1155.robot.Robot;
-import org.sciborgs1155.robot.drive.DriveConstants.Rotation;
 
 public class Drive extends SubsystemBase implements Logged, AutoCloseable {
 
@@ -55,14 +53,6 @@ public class Drive extends SubsystemBase implements Logged, AutoCloseable {
   @Log.NT private final Field2d field2d = new Field2d();
   private final FieldObject2d[] modules2d;
 
-  // Rate limiting
-  private final SlewRateLimiter xLimiter =
-      new SlewRateLimiter(MAX_ACCEL.in(MetersPerSecondPerSecond));
-  private final SlewRateLimiter yLimiter =
-      new SlewRateLimiter(MAX_ACCEL.in(MetersPerSecondPerSecond));
-
-  @Log.NT private double speedMultiplier = 1;
-
   // SysId
   private final SysIdRoutine driveRoutine;
   private final SysIdRoutine turnRoutine;
@@ -153,10 +143,7 @@ public void resetOdometry(Pose2d pose) {
    * @return The driving command.
    */
   public Command drive(InputStream vx, InputStream vy, InputStream vOmega) {
-    return run(
-        () ->
-            driveFieldRelative(
-                new ChassisSpeeds(vx.getAsDouble(), vy.getAsDouble(), vOmega.getAsDouble())));
+    return run(() -> driveFieldRelative(new ChassisSpeeds(vx.get(), vy.get(), vOmega.get())));
   }
 
   /**
@@ -181,8 +168,8 @@ public Command drive(InputStream vx, InputStream vy, Supplier<Rotation2d> headin
         () ->
             driveFieldRelative(
                 new ChassisSpeeds(
-                    vx.getAsDouble(),
-                    vy.getAsDouble(),
+                    vx.get(),
+                    vy.get(),
                     pid.calculate(getHeading().getRadians(), heading.get().getRadians()))));
   }
 
@@ -295,11 +282,6 @@ public Command lock() {
     return run(() -> setModuleStates(new SwerveModuleState[] {front, back, back, front}));
   }
 
-  /** Sets a new speed multiplier for the robot, this affects max cartesian and angular speeds */
-  public Command setSpeedMultiplier(double multiplier) {
-    return runOnce(() -> speedMultiplier = multiplier);
-  }
-
   /** Locks the drive motors. */
   private Command lockDriveMotors() {
     return Commands.run(() -> modules.forEach(m -> m.updateDriveSpeed(0)));