Partially adjusting drivetrain code to resolve an obvious error

2026-01-28 20:32:10 -05:00
parent 436667d0e4
commit 4296e2f27f
2 changed files with 5 additions and 5 deletions
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -180,12 +180,12 @@ public class Drivetrain extends SubsystemBase {
    }

    public Command drive(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rotation, BooleanSupplier fieldRelative) {
-        // TODO Inversions? Specific Alliance code?
+        // TODO Specific Alliance code?
        return run(() -> {
            drive(
-                MathUtil.applyDeadband(xSpeed.getAsDouble(), OIConstants.kDriveDeadband), 
-                MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
-                MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband), 
+                -MathUtil.applyDeadband(xSpeed.getAsDouble(), OIConstants.kDriveDeadband), 
+                -MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband), 
                fieldRelative.getAsBoolean()
            );
        });