From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 27 Feb 2026 23:03:13 +0000 (-0800)
Subject: Revert "kousha wanted more changes"
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=f89bec2f0e38693ed90762465f5a4a25b0768522;p=FRC2026.git

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 119fa14..55c53e5 100644
--- 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;
                 }