fixed wierd teleop controls

frc2053 · Oct 28, 2024 · ef5fe55 · ef5fe55
1 parent 14920fe
commit ef5fe55
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/cpp/str/SwerveDrive.cpp b/src/main/cpp/str/SwerveDrive.cpp
@@ -83,7 +83,7 @@ void SwerveDrive::Drive(units::meters_per_second_t xVel,
   frc::Rotation2d rot = poseEstimator.GetEstimatedPosition().Rotation();
 
   if(frc::DriverStation::IsTeleop()) {
-    rot = frc::Rotation2d{GetYawFromImu()};
+    rot = odom.GetPose().Rotation();
   }
 
   if (fieldRelative) {