From 35184281585a3c271c3f35512505f9667260dcdb Mon Sep 17 00:00:00 2001
From: michael-lesirge <100492377+michael-lesirge@users.noreply.github.com>
Date: Thu, 28 Mar 2024 17:43:24 -0700
Subject: [PATCH] fix swerve field relative

---
 src/main/java/frc/robot/subsystems/SwerveDrivetrain.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/SwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/SwerveDrivetrain.java
index a94fc65..88431a5 100644
--- 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);