From 92b876e7b0071620a7cbd41a28755fe712986cb1 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 25 Mar 2026 18:09:31 -0400
Subject: [PATCH] angle

---
 .vscode/settings.json                                    | 3 ++-
 .../frc/robot/subsystems/CommandSwerveDrivetrain.java    | 9 +++++++++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 612cdd0..1745ba0 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -56,5 +56,6 @@
     "edu.wpi.first.math.proto.*",
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
-  ]
+  ],
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
 }
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 264519a..00532cf 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -7,6 +7,7 @@ import java.util.function.Supplier;
 
 import com.ctre.phoenix6.SignalLogger;
 import com.ctre.phoenix6.Utils;
+import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants;
 import com.ctre.phoenix6.swerve.SwerveRequest;
@@ -42,6 +43,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     private static final double kSimLoopPeriod = 0.004; // 4 ms
     private Notifier m_simNotifier = null;
     private double m_lastSimTime;
+    Pigeon2 pigeon2;
 
     /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
     private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
@@ -246,6 +248,13 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
 
     @Override
     public void periodic() {
+        if(pigeon2.getYaw().getValueAsDouble() > 360){
+           pigeon2.setYaw(pigeon2.getYaw().getValueAsDouble()-360);
+        }
+        else if(pigeon2.getYaw().getValueAsDouble() < 0){
+            pigeon2.setYaw(pigeon2.getYaw().getValueAsDouble()+360);
+         }
+        
         /*
          * Periodically try to apply the operator perspective.
          * If we haven't applied the operator perspective before, then we should apply it regardless of DS state.