slight auto change and robot oriented amp

KHS-Robotics · Mar 30, 2024 · 070bbc0 · 070bbc0
1 parent 37cf62e
commit 070bbc0
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/main/deploy/pathplanner/paths/source get podium.path b/src/main/deploy/pathplanner/paths/source get podium.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.5202357965343594,
-        "y": 4.075371117931965
+        "x": 2.5670791427174855,
+        "y": 4.098792791023527
       },
       "prevControl": {
-        "x": 1.5202357965343594,
-        "y": 4.075371117931965
+        "x": 1.5670791427174855,
+        "y": 4.098792791023527
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/java/frc/robot/commands/drive/DriveSwerveWithXbox.java b/src/main/java/frc/robot/commands/drive/DriveSwerveWithXbox.java
@@ -55,7 +55,7 @@ public void execute() {
           * SwerveDrive.kMaxAngularSpeedRadiansPerSecond;
     }
 
-    var sign = fieldRelative || RobotContainer.arm.isAtState(ArmState.kAmp) ? 1 : -1;
+    var sign = fieldRelative || RobotContainer.arm.rotationSetpoint == ArmState.kAmp.rotations ? 1 : -1;
     RobotContainer.swerveDrive.drive(-xSpeed*sign, -ySpeed*sign, rot, fieldRelative);
   }