From d0027bc160d034f09f9fc8361dac5cf28e1b5745 Mon Sep 17 00:00:00 2001 From: moo Date: Thu, 26 Feb 2026 16:48:27 -0800 Subject: [PATCH] mas fixes --- .../frc/robot/commands/drive_comm/DefaultDriveCommand.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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)); -- 2.39.5