kousha wanted more changes

should work

diff --git a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
index d9af07497f0a3009dc94e4c3f92fc4283f757905..5dbe5027d744be67325de302f807d143040dbf55 100644 (file)
--- a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
+++ b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
@@ -79,7 +79,7 @@ public class DefaultDriveCommand extends Command {
                 double yawDegrees = swerve.getYaw().getDegrees();
                 double snappedDeg;
 
-                if (swerve.getPose().getX() < FieldConstants.FIELD_LENGTH / 2) {
+                if (swerve.getPose().getX() < swerve.getDesiredPose().getX()) {
                     snappedDeg = (swerve.getYaw().getDegrees() > 135 || swerve.getYaw().getDegrees() < 225) ? 180 : 0;
                 } else {
                     snappedDeg = (swerve.getYaw().getDegrees() < 45 || swerve.getYaw().getDegrees() > 315) ? 0 : 180;