From 198e5614d46a7828a6d075d7b92e706158447f88 Mon Sep 17 00:00:00 2001
From: Alvin Zhang <41vin2h4n9@gmail.com>
Date: Sat, 10 Feb 2024 14:50:09 -0800
Subject: [PATCH] fix: use continuous output on the pid * i'm really stupid

---
 .../robot2024/commands/DriveWithSpeakerTargetingCommand.java     | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/org/team1540/robot2024/commands/DriveWithSpeakerTargetingCommand.java b/src/main/java/org/team1540/robot2024/commands/DriveWithSpeakerTargetingCommand.java
index 6e6efd99..5c78d916 100644
--- a/src/main/java/org/team1540/robot2024/commands/DriveWithSpeakerTargetingCommand.java
+++ b/src/main/java/org/team1540/robot2024/commands/DriveWithSpeakerTargetingCommand.java
@@ -30,6 +30,7 @@ public class DriveWithSpeakerTargetingCommand extends Command {
     public DriveWithSpeakerTargetingCommand(Drivetrain drivetrain, CommandXboxController controller) {
         this.drivetrain = drivetrain;
         this.controller = controller;
+        rotController.enableContinuousInput(-Math.PI, Math.PI);
         addRequirements(drivetrain);
     }