Team4388/2026KPopRobotHunters
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left camera

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This commit is contained in:
Michael Mikovsky
2026-02-20 20:59:06 -08:00
parent 32ede81ffa
commit 9c7159ba3b
9 changed files with 62 additions and 49 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+1 -1
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@@ -351,7 +351,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
// Calculate the angle between the current position and the lead position
Rotation2d ang = fieldPosLead.minus(getPose2d().getTranslation()).getAngle();
Rotation2d ang = getPose2d().getTranslation().minus(fieldPosLead).getAngle();
driveFieldAngle(leftStick, ang);