Revert "kousha wanted more changes"

This reverts commit a3ac7517f5e87c1611ff1f301bb47ad8d76dfd29.

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 119fa14ed74c4873c6f0086d83612f23a3b67c95..55c53e507338116104f1abfdee28dc963d41d9ff 100644 (file)
--- a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
+++ b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
@@ -79,8 +79,8 @@ public class DefaultDriveCommand extends Command {
                 double yawDegrees = swerve.getYaw().getDegrees();
                 double snappedDeg;
 
-                if (swerve.getPose().getX() < swerve.getDesiredPose().getX()) {
-                    snappedDeg = (yawDegrees > 135 || yawDegrees < 225) ? 180 : 0;
+                if (swerve.getPose().getX() < FieldConstants.FIELD_LENGTH / 2) {
+                    snappedDeg = (swerve.getYaw().getDegrees() > 135 || swerve.getYaw().getDegrees() < 225) ? 180 : 0;
                 } else {
                     snappedDeg = (yawDegrees < 45 || yawDegrees > 315) ? 0 : 180;
                 }