From a3ac7517f5e87c1611ff1f301bb47ad8d76dfd29 Mon Sep 17 00:00:00 2001
From: moo <moogoesmeow123@gmail.com>
Date: Thu, 26 Feb 2026 16:50:29 -0800
Subject: [PATCH] kousha wanted more changes

should work
---
 .../java/frc/robot/commands/drive_comm/DefaultDriveCommand.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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;
-- 
2.39.5