turn boostby to boostMultiplier and simplify

calculation simplified by using a calculator, so it has a very low chance of being wrong yey!
MEFThunders-7035 · May 31, 2024 · 79f5352 · 79f5352
1 parent 5f8e750
commit 79f5352
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -487,11 +487,11 @@ public void driveWithExtras(
       boolean fieldRelative,
       boolean rateLimit) {
     final double sens = OIConstants.kDriveSensitivity; // The rest will be added by "boost"
-    final var boostBy = (sens + (boost * (1 - sens)));
+    final var boostMultiplier = sens * (1 - boost) + boost;
     drive(
-        MathUtil.applyDeadband(xSpeed * boostBy, deadband),
-        MathUtil.applyDeadband(ySpeed * boostBy, deadband),
-        MathUtil.applyDeadband(rot * boostBy, deadband),
+        MathUtil.applyDeadband(xSpeed * boostMultiplier, deadband),
+        MathUtil.applyDeadband(ySpeed * boostMultiplier, deadband),
+        MathUtil.applyDeadband(rot * boostMultiplier, deadband),
         fieldRelative,
         rateLimit);
     SmartDashboard.putNumber("xSpeed: ", xSpeed);