testing changes

src/main/java/org/sciborgs1155/robot/Robot.java

@@ -87,7 +87,7 @@ private Command teleopCommand() {
 
     return Commands.sequence(
             Commands.print("Enabled Teleop Mode!"),
-            drivetrain.inputArcade(() -> -driver.getLeftY(), () -> -driver.getLeftX()).repeatedly())
+            drivetrain.inputArcade(() -> driver.getLeftY(), () -> driver.getRightX()))
         .withName("Teleop Command")
         .finallyDo(() -> System.out.println("Disabled Teleop Mode!"));
   }

src/main/java/org/sciborgs1155/robot/tankdrive/DiffDrive.java

@@ -43,7 +43,7 @@ public class DiffDrive extends SubsystemBase implements Logged {
    * @param rightInput : Power, from [-1.0,1.0]
    */
   public Command inputTank(DoubleSupplier leftInput, DoubleSupplier rightInput) {
-    return runOnce(() -> inputHandler.tankDrive(leftInput.getAsDouble(), rightInput.getAsDouble()))
+    return run(() -> inputHandler.tankDrive(leftInput.getAsDouble(), rightInput.getAsDouble()))
         .withName("inputTank(" + leftInput.getAsDouble() + "," + rightInput.getAsDouble() + ")");
   }
 
@@ -54,7 +54,7 @@ public Command inputTank(DoubleSupplier leftInput, DoubleSupplier rightInput) {
    * @param rotation : Power, from [-1.0,1.0]
    */
   public Command inputArcade(DoubleSupplier drive, DoubleSupplier rotation) {
-    return runOnce(() -> inputHandler.arcadeDrive(drive.getAsDouble(), rotation.getAsDouble()))
+    return run(() -> inputHandler.arcadeDrive(drive.getAsDouble(), rotation.getAsDouble()))
         .withName("inputArcade(" + drive.getAsDouble() + "," + rotation.getAsDouble() + ")");
   }
 

src/main/java/org/sciborgs1155/robot/tankdrive/SparkDiffDrive.java

@@ -49,8 +49,8 @@ public class SparkDiffDrive implements DiffDriveIO {
 
   @Override
   public Measure<Voltage> setLeftVoltage(Measure<Voltage> voltage) {
-    frontRightMotor.setVoltage(clampVoltage(voltage).in(Volts));
-    rearRightMotor.setVoltage(clampVoltage(voltage).in(Volts));
+    frontLeftMotor.setVoltage(clampVoltage(voltage).in(Volts));
+    rearLeftMotor.setVoltage(clampVoltage(voltage).in(Volts));
 
     return voltage;
   }
@@ -131,6 +131,9 @@ public SparkDiffDrive(int[] motorIDs) {
     this.frontRightEncoder = frontRightMotor.getEncoder();
     this.rearRightEncoder = rearRightMotor.getEncoder();
 
+    // this.frontLeftMotor.setInverted(true);
+    // this.rearLeftMotor.setInverted(true);
+
     this.frontLeftMotor.restoreFactoryDefaults();
     this.rearLeftMotor.restoreFactoryDefaults();
     this.frontRightMotor.restoreFactoryDefaults();