disable leading correction

FRC7660 · Apr 6, 2024 · 325f024 · 325f024
1 parent 62043dd
commit 325f024
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
@@ -94,7 +94,7 @@ public SwerveSubsystem(File directory)
     {
       throw new RuntimeException(e);
     }
-    swerveDrive.setHeadingCorrection(true); // Heading correction should only be used while controlling the robot via angle.
+    swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot via angle.
     swerveDrive.setCosineCompensator(!SwerveDriveTelemetry.isSimulation); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life.
     setupPathPlanner();
 
@@ -221,7 +221,7 @@ public Command driveToPose(Pose2d pose)
   public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translationY, DoubleSupplier headingX,
                               DoubleSupplier headingY)
   {
-    swerveDrive.setHeadingCorrection(true); // Normally you would want heading correction for this kind of control.
+    swerveDrive.setHeadingCorrection(false); // Normally you would want heading correction for this kind of control.
     return run(() -> {
       double xInput = Math.pow(translationX.getAsDouble(), 3); // Smooth controll out
       double yInput = Math.pow(translationY.getAsDouble(), 3); // Smooth controll out
@@ -244,7 +244,7 @@ public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translat
    */
   public Command simDriveCommand(DoubleSupplier translationX, DoubleSupplier translationY, DoubleSupplier rotation)
   {
-    swerveDrive.setHeadingCorrection(true); // Normally you would want heading correction for this kind of control.
+    swerveDrive.setHeadingCorrection(false); // Normally you would want heading correction for this kind of control.
     return run(() -> {
       // Make the robot move
       driveFieldOriented(swerveDrive.swerveController.getTargetSpeeds(translationX.getAsDouble(),