Merge pull request #76 from errorcodexero/red-AND-dead

markkassab · web-flow · commit 890149e77471 · 2026-04-01T15:47:03.000-07:00
Point forward to y &amp; b, not at red alliance
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -365,7 +365,7 @@ public Command resetGyroCmd(Rotation2d rotation) {
     }
 
     public Command resetGyroCmd() {
-        return resetGyroCmd(Rotation2d.kZero);
+        return resetGyroCmd(DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue ? Rotation2d.kZero : Rotation2d.fromDegrees(180.0));
     }
     
     public Command stopWithXCmd() {

Original file line number	Diff line number	Diff line change
`@@ -365,7 +365,7 @@ public Command resetGyroCmd(Rotation2d rotation) {`
`365`	`365`	`}`
`366`	`366`
`367`	`367`	`public Command resetGyroCmd() {`
`368`		`- return resetGyroCmd(Rotation2d.kZero);`
	`368`	`+ return resetGyroCmd(DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue ? Rotation2d.kZero : Rotation2d.fromDegrees(180.0));`
`369`	`369`	`}`
`370`	`370`
`371`	`371`	`public Command stopWithXCmd() {`