Fix robot horizontal and vertical movement during teleop

team581 · Apr 6, 2022 · e2dfb3c · e2dfb3c
1 parent 81d9958
commit e2dfb3c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/frc/robot/drive/DriveSubsystem.java b/src/main/java/frc/robot/drive/DriveSubsystem.java
@@ -149,8 +149,8 @@ private void driveTeleop(
         thetaController.calculate(imuSubsystem.getRotation().getRadians(), newGoalHeading);
     final var chassisSpeeds =
         ChassisSpeeds.fromFieldRelativeSpeeds(
-            xPercentage * MAX_VELOCITY,
             yPercentage * MAX_VELOCITY,
+            -xPercentage * MAX_VELOCITY,
             thetaControllerVelocity,
             robotHeading);