AbsoluteDriveAdv Command Rotation Fix

Fixes a logic issue that causes the AbsoluteDriveAdv Command to output zero angular velocity every other periodic call when using the manual heading adjustment
BroncBotz3481 · Mar 13, 2024 · 7d5d321 · 7d5d321
1 parent ba5069c
commit 7d5d321
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java b/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java
@@ -103,7 +103,7 @@ public void execute()
     // Prevent Movement After Auto
     if (resetHeading)
     {
-      if (headingX == 0 && headingY == 0 && Math.abs(headingAdjust.getAsDouble()) > 0)
+      if (headingX == 0 && headingY == 0 && Math.abs(headingAdjust.getAsDouble()) == 0)
       {
         // Get the curret Heading
         Rotation2d currentHeading = swerve.getHeading();