b0037bfbbd62823167d42e2751be4aa753f6ae7d,TeamCode/src/main/java/org/firstinspires/ftc/teamcode/JellyfishTeleopOmni_Linear.java,JellyfishTeleopOmni_Linear,runOpMode,#,43

Before Change


            x = gamepad1.right_stick_x;
            x2 = gamepad1.left_stick_x;

            if (gamepad1.right_bumper) {
                robot.backLeftMotor.setPower(Range.clip((y + x - x2) / 2, -1, 1));
                robot.frontLeftMotor.setPower(Range.clip((y - x - x2) / 2, -1, 1));
                robot.backRightMotor.setPower(Range.clip((y - x + x2) / 2, -1, 1));
                robot.frontRightMotor.setPower(Range.clip((y + x + x2) / 2, -1, 1));
            } else {
                robot.backLeftMotor.setPower(Range.clip(y + x - x2, -1, 1));
                robot.frontLeftMotor.setPower(Range.clip(y - x - x2, -1, 1));
                robot.backRightMotor.setPower(Range.clip(y - x + x2, -1, 1));
                robot.frontRightMotor.setPower(Range.clip(y + x + x2, -1, 1));

After Change


            x2 = gamepad1.left_stick_x;

//
                robot.backLeftMotor.setPower(Range.clip(y + x - x2, -1, 1));
                robot.frontLeftMotor.setPower(Range.clip(y - x - x2, -1, 1));
                robot.backRightMotor.setPower(Range.clip(y - x + x2, -1, 1));
                robot.frontRightMotor.setPower(Range.clip(y + x + x2, -1, 1));