From fc06699ea8755c63f357e3aa4daaa1811659af0c Mon Sep 17 00:00:00 2001
From: TheRealGreydon <nmunier65@gmail.com>
Date: Thu, 15 Oct 2026 18:40:12 -0400
Subject: [PATCH]

---
 .../deploy/pathplanner/paths/New Path.path    | 54 +++++++++++++++++++
 .../frc/robot/subsystems/DriveSubsystem.java  |  2 +-
 2 files changed, 55 insertions(+), 1 deletion(-)
 create mode 100644 src/main/deploy/pathplanner/paths/New Path.path

diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
new file mode 100644
index 0000000..27c2442
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.347817403708987,
+        "y": 6.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": -0.16600570613409404,
+        "y": 5.982268188302426
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": -0.9164479315263911,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": -1.916447931526393,
+        "y": 6.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 1db3eeb..5ff911b 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -161,7 +161,7 @@ public class DriveSubsystem extends TestableSubsystem {
                     driveSystem::getRobotPose2d,
                     driveSystem::setPose2d,
                     driveSystem::getRobotRelativeSpeeds,
-                    (speeds, feedforwards) -> {driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(-speeds.vxMetersPerSecond, -speeds.vyMetersPerSecond, -speeds.omegaRadiansPerSecond, driveSystem.getRobotHeading()), new Translation2d());},
+                    (speeds, feedforwards) -> {driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond, speeds.omegaRadiansPerSecond, driveSystem.getRobotHeading()), new Translation2d());},
                     new PPHolonomicDriveController(
                             new PIDConstants(5, 0, 0),
                             new PIDConstants(Math.PI, 0, 0)),