From 2ea5cf290085dc88a4a976c4e16fa7103f92d2b7 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Tue, 22 Sep 2015 20:07:00 +0000
Subject: [PATCH] fixed drive

---
 Commands/Drivetrain/Drive.cpp | 2 +-
 Subsystems/Drivetrain.cpp     | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index baa348f..79ed05d 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -6,7 +6,7 @@ Drive::Drive(): Command("Drive") {
 void Drive::Initialize() {}
 void Drive::Execute() {
   float x, y, z;
-  x = -DentRobot::oi->GetLeftStick()->GetRawAxis(0);
+  x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
   y = DentRobot::oi->GetLeftStick()->GetRawAxis(1);
   z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp
index 99b4d68..8098a93 100644
--- a/Subsystems/Drivetrain.cpp
+++ b/Subsystems/Drivetrain.cpp
@@ -21,8 +21,8 @@ void Drivetrain::DriveArcade(double x, double y, double z, double sensitivity, b
   } else {
     correctZ = -z * 0.5;
   }
-  leftRear->Set(correctY+(correctX-correctZ));
-  rightRear->Set(correctY-(correctX-correctZ));
+  leftRear->Set(-y+(x+z));
+  rightRear->Set(y+(x+z));
 }
 //Used in pretest
 void Drivetrain::TestMotor(e_motors motor, double power) {