From: moo <moogoesmeow123@gmail.com>
Date: Fri, 27 Feb 2026 00:50:29 +0000 (-0800)
Subject: kousha wanted more changes
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=a3ac7517f5e87c1611ff1f301bb47ad8d76dfd29;p=FRC2026.git

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 d9af074..5dbe502 100644
--- 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;