🐛 Right swings now work without flipping rotation axis

Merge pull request #262 from EZ-Robotics/bug/make-right-swings-work
EZ-Robotics · Jan 1, 2025 · e185558 · e185558
2 parents 5276abc + 5e7261a
commit e185558
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/EZ-Template/drive/set_pid/set_swing_pid.cpp b/src/EZ-Template/drive/set_pid/set_swing_pid.cpp
@@ -291,9 +291,9 @@ void Drive::pid_swing_set(e_swing type, double target, int speed, int opposite_s
   used_motion_chain_scale = 0.0;
 
   // Flip the swing from left-right if rotation axis is flipped
-  if (odom_theta_direction_get()) 
-    current_swing = type == ez::LEFT_SWING ? ez::RIGHT_SWING : ez::LEFT_SWING;
-
+  current_swing = type;
+  if (odom_theta_direction_get())
+    current_swing = current_swing == ez::LEFT_SWING ? ez::RIGHT_SWING : ez::LEFT_SWING;
 
   // Figure out if going forward or backward
   int side = type == ez::LEFT_SWING ? 1 : -1;