package org.team2471.bunnybot.subsystems;

import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.SpeedController;
import org.team2471.bunnybot.HardwareMap;
import org.team2471.bunnybot.SwerveModule;

import java.beans.Encoder;

public class DriveTrain {
  private final SwerveModule leftSwerveModule = new SwerveModule(HardwareMap.DriveTrainMap.LeftModule.forwardMotor,
          HardwareMap.DriveTrainMap.LeftModule.turnMotor, HardwareMap.DriveTrainMap.LeftModule.turnEncoder);
  private final SwerveModule rightSwerveModule = new SwerveModule(HardwareMap.DriveTrainMap.RightModule.forwardMotor,
          HardwareMap.DriveTrainMap.RightModule.turnMotor, HardwareMap.DriveTrainMap.RightModule.turnEncoder);

  private final SpeedController frontLeftMotor = HardwareMap.DriveTrainMap.frontLeftMotor;
  private final SpeedController frontRightMotor = HardwareMap.DriveTrainMap.frontRightMotor;
  private final SpeedController backLeftMotor = HardwareMap.DriveTrainMap.backLeftMotor;
  private final SpeedController backRightMotor = HardwareMap.DriveTrainMap.backRightMotor;
  /**
   * Sets the forward speed and the swerve module target angles.
   *
   * @param speed speed to be set between -1 and 1 (inclusive)
   * @param angle target in degrees
   */
  public void drive(double speed, double angle) {
    frontLeftMotor.set(speed);
    frontRightMotor.set(speed);
    backLeftMotor.set(speed);
    backRightMotor.set(speed);
    leftSwerveModule.drive(angle, speed);
    rightSwerveModule.drive(angle, speed);
  }
}

@@ -1233,21 +1233,24 @@
  @param 
-speed
+throttle
  speed t
@@ -1304,31 +1304,63 @@
 ram 
-angle target in degrees
+steeringRate steering rate between -1 and 1 (inclusive)
 %0D%0A  
@@ -1391,21 +1391,24 @@
 (double 
-speed
+throttle
 , double
@@ -1408,20 +1408,27 @@
  double 
-angl
+steeringRat
 e) %7B%0D%0A  
@@ -1440,37 +1440,40 @@
 ntLeftMotor.set(
-speed
+throttle
 );%0D%0A    frontRig
@@ -1476,37 +1476,40 @@
 tRightMotor.set(
-speed
+throttle
 );%0D%0A    backLeft
@@ -1510,37 +1510,40 @@
 ckLeftMotor.set(
-speed
+throttle
 );%0D%0A    backRigh
@@ -1553,21 +1553,24 @@
 tor.set(
-speed
+throttle
 );%0D%0A    
@@ -1588,36 +1588,46 @@
 odule.drive(
-angle, speed
+steeringRate, throttle
 );%0D%0A    righ
@@ -1650,20 +1650,30 @@
 ive(
-angle, speed
+steeringRate, throttle
 );%0D%0A

Rename Parameters