fix: check flipping in intialize

flamingchickens1540 · Feb 9, 2024 · 7cf8dcb · 7cf8dcb
1 parent 61830c5
commit 7cf8dcb
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/src/main/java/org/team1540/robot2024/commands/SwerveDriveCommand.java b/src/main/java/org/team1540/robot2024/commands/SwerveDriveCommand.java
@@ -20,6 +20,8 @@ public class SwerveDriveCommand extends Command {
     private final SlewRateLimiter yLimiter = new SlewRateLimiter(2);
     private final SlewRateLimiter rotLimiter = new SlewRateLimiter(3);
 
+    private boolean isFlipped;
+
     public SwerveDriveCommand(Drivetrain drivetrain, CommandXboxController controller) {
         this.drivetrain = drivetrain;
         this.controller = controller;
@@ -31,6 +33,9 @@ public void initialize() {
         xLimiter.reset(0);
         yLimiter.reset(0);
         rotLimiter.reset(0);
+        isFlipped =
+                DriverStation.getAlliance().isPresent()
+                        && DriverStation.getAlliance().get() == DriverStation.Alliance.Red;
     }
 
     @Override
@@ -49,10 +54,6 @@ public void execute() {
                 new Pose2d(new Translation2d(), linearDirection)
                         .transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d())).getTranslation();
 
-        boolean isFlipped =
-                DriverStation.getAlliance().isPresent()
-                        && DriverStation.getAlliance().get() == DriverStation.Alliance.Red;
-
         // Convert to field relative speeds & send command
         drivetrain.runVelocity(
                 ChassisSpeeds.fromFieldRelativeSpeeds(