Fixed bug with Choreo path's not mirroring rotation's properly

mjansen4857 · Jan 20, 2024 · 03b8da5 · 03b8da5
1 parent 39dbd94
commit 03b8da5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
@@ -1038,7 +1038,7 @@ public PathPlannerPath flipPath() {
         mirrored.heading = GeometryUtil.flipFieldRotation(state.heading);
         mirrored.targetHolonomicRotation =
             GeometryUtil.flipFieldRotation(state.targetHolonomicRotation);
-        mirrored.holonomicAngularVelocityRps.ifPresent(
+        state.holonomicAngularVelocityRps.ifPresent(
             v -> mirrored.holonomicAngularVelocityRps = Optional.of(-v));
         mirrored.curvatureRadPerMeter = -state.curvatureRadPerMeter;
         mirrored.constraints = state.constraints;