001/************************* PROJECT RON *************************/
002/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved. */
003/* Use of this source code is governed by an MIT-style license */
004/* that can be found in the repository LICENSE file.           */
005/***************************************************************/
006package com.stuypulse.robot.commands.swerve;
007
008import com.ctre.phoenix6.swerve.SwerveRequest;
009import com.stuypulse.robot.subsystems.swerve.CommandSwerveDrivetrain;
010import edu.wpi.first.wpilibj2.command.InstantCommand;
011
012public class SwerveDriveXMode extends InstantCommand {
013    private CommandSwerveDrivetrain swerve;
014
015    public SwerveDriveXMode() {
016        swerve = CommandSwerveDrivetrain.getInstance();
017        addRequirements(swerve);
018    }
019
020    @Override
021    public void initialize() {
022        SwerveRequest request = new SwerveRequest.SwerveDriveBrake();
023        swerve.setControl(request);
024    }
025}