Fix amount divided by

Ocebots · Jan 2, 2024 · 44e0898 · 44e0898
1 parent 9b657dd
commit 44e0898
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -163,7 +163,8 @@ public void drive(
 
       inputTranslationDir = SwerveUtils.optimizeAngle(inputTranslationDir, currentTranslationDir);
 
-      inputTranslationMag *= 1 - Math.abs(inputTranslationDir - currentTranslationDir) / Math.PI;
+      inputTranslationMag *=
+          1 - Math.abs(inputTranslationDir - currentTranslationDir) / (Math.PI / 2);
 
       dirLimiter.setRateLimit(
           DriveConstants.MAX_DRIVE_ANGULAR_VELOCITY