From f89bec2f0e38693ed90762465f5a4a25b0768522 Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 27 Feb 2026 15:03:13 -0800
Subject: [PATCH] Revert "kousha wanted more changes"

This reverts commit a3ac7517f5e87c1611ff1f301bb47ad8d76dfd29.
---
 .../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 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;
                 }
-- 
2.39.5