fix swerve field relative

redshiftrobotics · Mar 29, 2024 · 3518428 · 3518428
1 parent e274d15
commit 3518428
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/frc/robot/subsystems/SwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/SwerveDrivetrain.java
@@ -327,7 +327,7 @@ public void setDesiredState(ChassisSpeeds speeds, boolean fieldRelative) {
 		SmartDashboard.putNumber("Spin", speeds.omegaRadiansPerSecond);
 
 		if (fieldRelative)
-			speeds = ChassisSpeeds.fromFieldRelativeSpeeds(speeds, getHeading().plus(Rotation2d.fromDegrees(180)));
+			speeds = ChassisSpeeds.fromFieldRelativeSpeeds(speeds, getHeading());
 		speeds = ChassisSpeeds.discretize(speeds, TimedRobot.kDefaultPeriod);
 
 		SwerveModuleState[] states = kinematics.toSwerveModuleStates(speeds);