so many fucking booleans

TitaniumTigers4829 · Jul 26, 2024 · 4b72620 · 4b72620
1 parent 13da0e2
commit 4b72620
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/subsystems/swerve/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/DriveSubsystem.java
@@ -232,7 +232,7 @@ public boolean isSkidding() {
     boolean collisionDetected = isCollisionDetected();
     boolean isStatorGood = getStatorCurrents();
     // boolean 
-    if (skidRatio > 1 || collisionDetected || isStatorGood) {
+    if (skidRatio > 1 || collisionDetected || !isStatorGood) {
       return true;
     }
     return false;
@@ -426,7 +426,7 @@ public boolean[] getStatorStatus() {
   public boolean getStatorCurrents() {
     boolean[] statorStatus = getStatorStatus();
     for (int i = 0; i < statorStatus.length; i++) {
-        if (!statorStatus[i]) {
+        if (statorStatus[i]) {
           return true;
         }
     }
@@ -435,7 +435,7 @@ public boolean getStatorCurrents() {
 
 public boolean isSlipping() {
   if (getSkidRatio() > 1.0) {
-    isSlipping = true;
+    return true;
   }
   return false;
 }