refactor: Comment out untested.

Author: haydenheroux

src/main/java/frc/robot/odometry/Odometry.java

@@ -149,11 +149,14 @@ public void setRotation(Rotation2d rotation) {
   public Command tare() {
     return Commands.runOnce(
         () -> {
-          if (AllianceFlipHelper.shouldFlip()) {
-            setRotation(Rotation2d.fromDegrees(180));
-          } else {
-            setRotation(Rotation2d.fromDegrees(0));
-          }
+          // TODO needs testing!
+          // if (AllianceFlipHelper.shouldFlip()) {
+          //   setRotation(Rotation2d.fromDegrees(180));
+          // } else {
+          //   setRotation(Rotation2d.fromDegrees(0));
+          // }
+
+          gyroscope.setYaw(0.0);
         });
   }
 

src/main/java/frc/robot/swerve/DriveCommand.java

@@ -11,6 +11,7 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.RobotConstants;
 import frc.robot.odometry.Odometry;
+import frc.lib.AllianceFlipHelper;
 
 /** Drives the swerve using driver input. */
 public class DriveCommand extends Command {
@@ -70,6 +71,11 @@ public void execute() {
 
     Rotation2d poseHeading = odometry.getPosition().getRotation();
 
+    // TODO test
+    // if (AllianceFlipHelper.shouldFlip()) {
+    //   poseHeading = poseHeading.plus(Rotation2d.fromDegrees(180));
+    // }
+
     if (DriveRequest.startedDrifting(previousRequest, request)) {
       headingGoal = wrap(new State(poseHeading.getRotations(), 0.0), poseHeading.getRotations());
     }