centripetal correction oops

Pedro-Pathing · Aug 13, 2024 · 13e503c · 13e503c
1 parent 87f4240
commit 13e503c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java
@@ -853,7 +853,7 @@ public Vector getCentripetalForceCorrection() {
             curvature = (yDoublePrime) / (Math.pow(Math.sqrt(1 + Math.pow(yPrime, 2)), 3));
         }
         if (Double.isNaN(curvature)) return new Vector();
-        centripetalVector = new Vector(MathFunctions.clamp(FollowerConstants.centripetalScaling * FollowerConstants.mass * Math.pow(MathFunctions.dotProduct(poseUpdater.getVelocity(), MathFunctions.normalizeVector(currentPath.getClosestPointTangentVector())), 2) * Math.abs(curvature), -1, 1), currentPath.getClosestPointTangentVector().getTheta() + Math.PI / 2 * MathFunctions.getSign(currentPath.getClosestPointNormalVector().getTheta()));
+        centripetalVector = new Vector(MathFunctions.clamp(FollowerConstants.centripetalScaling * FollowerConstants.mass * Math.pow(MathFunctions.dotProduct(poseUpdater.getVelocity(), MathFunctions.normalizeVector(currentPath.getClosestPointTangentVector())), 2) * curvature, -1, 1), currentPath.getClosestPointTangentVector().getTheta() + Math.PI / 2 * MathFunctions.getSign(currentPath.getClosestPointNormalVector().getTheta()));
         return centripetalVector;
     }