Basic Drive Interface/Stub

src/main/java/frc/robot/RobotContainer.java

@@ -4,15 +4,40 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.commands.DriveBaseCommand;
+import frc.robot.subsystems.drive.DriveBase;
+import frc.robot.subsystems.drive.DriveSwerve;
+import frc.robot.subsystems.drive.DriveTank;
 
 public class RobotContainer {
+  public final XboxController controller;
+  public final DriveBase drivetrain;
+
   public RobotContainer() {
+    controller = new XboxController(0);
+
+    boolean swerveBot = false;
+    boolean tankBot = false;
+
+    if (swerveBot) {
+      drivetrain = new DriveSwerve();
+    } else if (tankBot) {
+      drivetrain = new DriveTank();
+    } else {
+      drivetrain = new DriveBase();
+    }
+
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    drivetrain.setDefaultCommand(
+        new DriveBaseCommand(
+            drivetrain, () -> -controller.getLeftY(), () -> -controller.getLeftX()));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

src/main/java/frc/robot/commands/DriveBaseCommand.java

@@ -0,0 +1,31 @@
+package frc.robot.commands;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.drive.DriveBase;
+import java.util.function.DoubleSupplier;
+
+public class DriveBaseCommand extends Command {
+  DriveBase drive;
+  DoubleSupplier speed;
+  DoubleSupplier rot;
+
+  public DriveBaseCommand(DriveBase drive, DoubleSupplier speed, DoubleSupplier rot) {
+    this.drive = drive;
+    this.speed = speed;
+    this.rot = rot;
+
+    addRequirements(drive);
+  }
+
+  @Override
+  public void execute() {
+    ChassisSpeeds speeds =
+        new ChassisSpeeds(
+            speed.getAsDouble() * drive.getMaxLinearSpeed(),
+            0,
+            rot.getAsDouble() * drive.getMaxAngularSpeed());
+
+    drive.runVelocity(speeds);
+  }
+}

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -0,0 +1,21 @@
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+
+public interface Drive {
+  public void runVelocity(ChassisSpeeds speeds);
+
+  public double getMaxLinearSpeed();
+
+  public double getMaxAngularSpeed();
+
+  /*
+  public void stop();
+
+  public Pose2d getPose();
+
+  public void setPose(Pose2d Pose2d);
+
+  public Rotation2d getRotation();
+  */
+}

src/main/java/frc/robot/subsystems/drive/DriveBase.java

@@ -0,0 +1,19 @@
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class DriveBase extends SubsystemBase implements Drive {
+  public DriveBase() {}
+
+  public void runVelocity(ChassisSpeeds speeds) {}
+  ;
+
+  public double getMaxLinearSpeed() {
+    return 0;
+  }
+
+  public double getMaxAngularSpeed() {
+    return 0;
+  }
+}

src/main/java/frc/robot/subsystems/drive/DriveSwerve.java

@@ -0,0 +1,10 @@
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+
+public class DriveSwerve extends DriveBase {
+  @Override
+  public void runVelocity(ChassisSpeeds speeds) {
+    /* Swerve Controls Here */
+  }
+}

src/main/java/frc/robot/subsystems/drive/DriveTank.java

@@ -0,0 +1,10 @@
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+
+public class DriveTank extends DriveBase {
+  @Override
+  public void runVelocity(ChassisSpeeds speeds) {
+    /* Tank Controls Here */
+  }
+}