[koolpoolo]

i forgot to add stuff in drivebase controls

[markpete]

Good job on a first draft. Please consider the following potential issues and let me know your thoughts.

[markpete]

/review

[qodo-code-review]

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⏱️ Estimated effort to review: 2 🔵🔵⚪⚪⚪

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⚡ Recommended focus areas for review Command Conflict The brake command created with Commands.run does not require drivebaseSubsystem, so the default drive command can continue sending velocity requests while the brake command sends brake requests. Add the subsystem as a requirement or use its command factory to ensure the default command is interrupted. driverController .a() .whileTrue(Commands.run(() -> s.drivebaseSubsystem.setControl(new SwerveDriveBrake())));