45a5fee44a0d08f9466a7f95eee94438a703a522,src/org/usfirst/frc/team3641/robot/DriveBase.java,DriveBase,driveStraight,#number#number#,85

Before Change


	
	public static void driveStraight(double target_angle, double drive_speed)
	{
		double error = target_angle - getDriveDirection();
		driveNormal(-drive_speed, -1 * error * Constants.DRIVE_KP);
	}
	

After Change


	
	public static void driveStraight(double target_angle, double drive_speed)
	{
		double error = (target_angle) - (getDriveDirection());
		if (error >= 180)
		{
			error -= 360;
		}
		else if (error<=-180)
		{
			error+=360;
		}