diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 18dcb71..b49a82e 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -163,7 +163,7 @@ public class RobotContainer { .withVelocityY(0) .withRotationalRate(0)).unless(()->!ReculerR.getBoolean(true)).withTimeout(3.5), drivetrain.applyRequest(()-> - drive.withVelocityX(0.1*MaxSpeed) + drive.withVelocityX(-0.1*MaxSpeed) .withVelocityY(0) .withRotationalRate(0)).unless(()->!ReculerB.getBoolean(true)).withTimeout(3.5), drivetrain.applyRequest(()-> @@ -173,7 +173,11 @@ public class RobotContainer { drivetrain.applyRequest(()-> drive.withVelocityX(-0.1*MaxSpeed) .withVelocityY(0) - .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(3), + .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerR.getBoolean(true)).withTimeout(3), + drivetrain.applyRequest(()-> + drive.withVelocityX(0.1*MaxSpeed) + .withVelocityY(0) + .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerB.getBoolean(true)).withTimeout(3), drivetrain.applyRequest(()-> drive.withVelocityX(0) .withVelocityY(0)