mas fixes

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 46254843d953be31a8a7289507c2151e5c6cac03..d9af07497f0a3009dc94e4c3f92fc4283f757905 100644 (file)
--- a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
+++ b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
@@ -79,10 +79,10 @@ public class DefaultDriveCommand extends Command {
                 double yawDegrees = swerve.getYaw().getDegrees();
                 double snappedDeg;
 
-                if (swerve.getPose().getX() > FieldConstants.FIELD_LENGTH / 2) {
+                if (swerve.getPose().getX() < FieldConstants.FIELD_LENGTH / 2) {
                     snappedDeg = (swerve.getYaw().getDegrees() > 135 || swerve.getYaw().getDegrees() < 225) ? 180 : 0;
                 } else {
-                    snappedDeg = (swerve.getYaw().getDegrees() < 45 || swerve.getYaw().getDegrees() > 315) ? 180 : 0;
+                    snappedDeg = (swerve.getYaw().getDegrees() < 45 || swerve.getYaw().getDegrees() > 315) ? 0 : 180;
                 }
 
                 swerve.setAlignAngle(Units.degreesToRadians(snappedDeg));