offset front left by 180 due to bad zeroing

team5115 · Sep 11, 2024 · e96d2ea · e96d2ea
1 parent 94f3f61
commit e96d2ea
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/main/java/frc/team5115/subsystems/drive/Module.java b/src/main/java/frc/team5115/subsystems/drive/Module.java
@@ -125,7 +125,11 @@ public void setBrakeMode(boolean enabled) {
 
     /** Returns the current turn angle of the module. */
     public Rotation2d getAngle() {
-        return inputs.turnAbsolutePosition;
+        if (index==0) {
+            return inputs.turnAbsolutePosition.plus(Rotation2d.fromDegrees(180));
+        } else {
+            return inputs.turnAbsolutePosition;
+        }
     }
 
     /** Returns the current drive position of the module in meters. */