From c75d7f9f2e935847271b0efabd76b957fc76a547 Mon Sep 17 00:00:00 2001
From: CoryNessCTR <cness@ctr-electronics.com>
Date: Thu, 26 Oct 2023 10:29:52 -0400
Subject: [PATCH] Rename get speeds so it's clear they're robot relative speeds

---
 .../src/main/java/frc/robot/CommandSwerveDrivetrain.java      | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
index 3684b547..884b426b 100644
--- a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
+++ b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
@@ -38,7 +38,7 @@ private void configurePathPlanner() {
         AutoBuilder.configureHolonomic(
             ()->this.getState().Pose, // Supplier of current robot pose
             this::seedFieldRelative,  // Consumer for seeding pose against auto
-            this::getCurrentSpeeds,
+            this::getCurrentRobotChassisSpeeds,
             (speeds)->this.setControl(autoRequest.withSpeeds(speeds)), // Consumer of ChassisSpeeds to drive the robot
             new HolonomicPathFollowerConfig(new PIDConstants(10, 0, 0),
                                             new PIDConstants(10, 0, 0),
@@ -79,7 +79,7 @@ public void seedFieldRelative(Pose2d location) {
         }
     }
 
-    public ChassisSpeeds getCurrentSpeeds() {
+    public ChassisSpeeds getCurrentRobotChassisSpeeds() {
         return m_kinematics.toChassisSpeeds(getState().ModuleStates);
     }
 }