From e1fe28d54e900262b49a29bc41a269950258130f Mon Sep 17 00:00:00 2001
From: Kyra <101209@psdschools.org>
Date: Tue, 30 Mar 2021 17:45:35 -0600
Subject: [PATCH] Bounce Working, needs tuning

---
 src/main/java/frc4388/robot/subsystems/Drive.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 1a96ced..151523f 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -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)));
     }