From: moo <moogoesmeow123@gmail.com>
Date: Fri, 27 Feb 2026 00:48:27 +0000 (-0800)
Subject: mas fixes
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=d0027bc160d034f09f9fc8361dac5cf28e1b5745;p=FRC2026.git

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 4625484..d9af074 100644
--- 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));