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;
}