Update drive_by_joystick.py

SteelRidgeRobotics · Jun 7, 2022 · 45d34f6 · 45d34f6
1 parent 6c49a8d
commit 45d34f6
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/Larry/commands/drive_by_joystick.py b/Larry/commands/drive_by_joystick.py
@@ -28,6 +28,9 @@ def execute(self) -> None:
 
         self.direction = conversions.Conversions.convertJoystickInputToDegrees(conversions.Conversions.deadband(self.leftx(), constants.kdeadband), conversions.Conversions.deadband(self.lefty(), constants.kdeadband))
 
+        # field concentric
+        self.direction -= self.drive.gyro.get()
+
         wpilib.SmartDashboard.putNumber("   direction - ", self.direction)
         wpilib.SmartDashboard.putNumber("   speed - ", self.magnitude)
         wpilib.SmartDashboard.putNumber("   turn power - ", self.turnPower())