Bounce Working, needs tuning

2026-06-09 08:48:01 -06:00 · 2021-03-30 17:45:35 -06:00
parent 05f8eb14b1
commit e1fe28d54e
1 changed files with 1 additions and 1 deletions
@@ -338,7 +338,7 @@ public class Drive extends SubsystemBase {

  public void updateOdometry(boolean reversed){
    if (reversed){
-      m_odometry.update(Rotation2d.fromDegrees( getHeading()),
+      m_odometry.update(Rotation2d.fromDegrees( -getGyroYaw()-180),
                                              -inchesToMeters(getDistanceInches(m_rightFrontMotor)),
                                              inchesToMeters(getDistanceInches(m_leftFrontMotor)));
    }