Merge pull request #222 from EZ-Robotics/bug/pid-odom-set-is-boomerang

Default pid_odom_set is no longer forced to boomerang
EZ-Robotics · Dec 12, 2024 · 9e2b234 · 9e2b234
2 parents 6a49400 + 5b57d32
commit 9e2b234
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/EZ-Template/drive/set_pid/set_odom_pid.cpp b/src/EZ-Template/drive/set_pid/set_odom_pid.cpp
@@ -105,7 +105,7 @@ void Drive::pid_odom_set(double target, int speed) {
 void Drive::pid_odom_set(double target, int speed, bool slew_on) {
   drive_directions fwd_or_rev = util::sgn(target) >= 0 ? fwd : rev;
   pose target_pose = util::vector_off_point(target, {odom_x_get(), odom_y_get(), headingPID.target_get()});
-  odom path = {target_pose, fwd_or_rev, speed};
+  odom path = {{target_pose.x, target_pose.y}, fwd_or_rev, speed};
 
   xyPID.timers_reset();
   current_a_odomPID.timers_reset();