From 07ec609b019fd8db439e14beb74c50fdbf75a091 Mon Sep 17 00:00:00 2001
From: mimigamin <mira.j.maroni@gmail.com>
Date: Sat, 14 Mar 2026 15:41:27 -0600
Subject: [PATCH] fix simulation auto

---
 simgui-ds.json                                |  5 ----
 .../robot/constants/BuildConstants.java       | 10 ++++----
 .../subsystems/swerve/SimpleSwerveSim.java    | 24 +++++++++++++++++--
 3 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/simgui-ds.json b/simgui-ds.json
index 4a63cc1..73cc713 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -1,9 +1,4 @@
 {
-  "System Joysticks": {
-    "window": {
-      "enabled": false
-    }
-  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index e426645..586e645 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 156;
-  public static final String GIT_SHA = "0d98232f30a0663939bef0d21533e1603090c7cd";
-  public static final String GIT_DATE = "2026-03-12 18:13:33 MDT";
+  public static final int GIT_REVISION = 157;
+  public static final String GIT_SHA = "2de8c605970a55114d3a66ebfb26160df3e0aa50";
+  public static final String GIT_DATE = "2026-03-12 18:35:44 MDT";
   public static final String GIT_BRANCH = "MiraOrg";
-  public static final String BUILD_DATE = "2026-03-12 18:30:13 MDT";
-  public static final long BUILD_UNIX_TIME = 1773361813662L;
+  public static final String BUILD_DATE = "2026-03-14 15:24:12 MDT";
+  public static final long BUILD_UNIX_TIME = 1773523452704L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java b/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
index 75542fd..a374ac8 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
@@ -8,6 +8,8 @@ import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotBase;
 import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
 
 public class SimpleSwerveSim implements SwerveIO {
@@ -100,9 +102,27 @@ public class SimpleSwerveSim implements SwerveIO {
         lastTimeNs = now;
 
         lastPose = pose;
+        double dxField;
+        double dyField;
+        
+        if (DriverStation.isAutonomous()) {
+            double dxRobot = vx * dt;
+            double dyRobot = vy * dt;
+
+            Rotation2d r = pose.getRotation();
+            double cos = r.getCos();
+            double sin = r.getSin();
+
+            dxField = dxRobot * cos - dyRobot * sin;
+            dyField = dxRobot * sin + dyRobot * cos;
+
+        } else {
+            dxField = vx * dt;
+            dyField = vy * dt;
+
+        }
+
 
-        double dxField = vx * dt;
-        double dyField = vy * dt;
         double dTheta = omega * dt;
 
         Translation2d newTrans = pose.getTranslation().plus(new Translation2d(dxField, dyField));