From: moo <moogoesmeow123@gmail.com>
Date: Sat, 9 May 2026 20:16:11 +0000 (-0700)
Subject: convert to robot relative speeds, works now!
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=9b48da0a967468b65002cd5edddebcf144fc4bcb;p=FRC2026.git

convert to robot relative speeds, works now!
---

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2d5d474..d68fb5e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -13,6 +13,7 @@ import choreo.auto.AutoChooser;
 import choreo.auto.AutoFactory;
 import choreo.auto.AutoRoutine;
 import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
@@ -191,7 +192,7 @@ public class RobotContainer {
       	autoFactory = new AutoFactory(
             drive::getPose,
             drive::resetOdometry,
-            sample -> drive.setChassisSpeeds(sample.getChassisSpeeds(), false),
+            sample -> drive.setChassisSpeeds(ChassisSpeeds.fromFieldRelativeSpeeds(sample.getChassisSpeeds(), drive.getYaw()), false),
             true,
             drive,
             (trajectory, startOrFinish) -> {