actually scale angular velocity for drive commands

frc937 · Jan 30, 2024 · cafea22 · cafea22
1 parent 9c83b79
commit cafea22
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/commands/drive/DriveFieldOriented.java b/src/main/java/frc/robot/commands/drive/DriveFieldOriented.java
@@ -39,7 +39,7 @@ public void execute() {
     double z = RobotContainer.getScaledControllerRightXAxis() * Constants.Drive.MAX_ANGULAR_SPEED;
     Translation2d translation = new Translation2d(x, y);
 
-    drive.driveFieldOriented(translation, RobotContainer.getControllerRightXAxis());
+    drive.driveFieldOriented(translation, z);
   }
 
   // Called once the command ends or is interrupted.

diff --git a/src/main/java/frc/robot/commands/drive/DriveRobotOriented.java b/src/main/java/frc/robot/commands/drive/DriveRobotOriented.java
@@ -39,7 +39,7 @@ public void execute() {
     double z = RobotContainer.getScaledControllerRightXAxis() * Constants.Drive.MAX_ANGULAR_SPEED;
     Translation2d translation = new Translation2d(x, y);
 
-    drive.driveRobotOriented(translation, RobotContainer.getControllerRightXAxis());
+    drive.driveRobotOriented(translation, z);
   }
 
   // Called once the command ends or is interrupted.