Switching Between Arcade and Swerve Has Turning Issues [SYNTH-273] - #1451
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AlexD717
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[SYNTH-273]
AlexD717
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July 27, 2026 18:18
Dhruv-0-Arora
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Jul 31, 2026
PepperLola
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BrandonPacewic
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lgtm, going to make a small push to fix conflicts before merging.
* 'dev' of github.com:Autodesk/synthesis: chore: fix ci refactor: create useHoldPhysicsPause hook fix: update stale comment fix: restore previously removed cast fix: mock real jolt vec object in unit test fix: revert auto formatting change fix: asan build jolt memory bug catches
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Task
SYNTH-273
Symptom
If you have an Arcade drive robot (ex Dozer) and then switch to Swerve, and then back to Arcade, you can no longer turn.
Solution
Most of the code was already their to fallback to Arcade if Swerve detection failed. I fixed that system up by actually assigning the driveType. In addition, I had to switch to calculating wheel position in local position, as you might be configuring a robot after it has rotated from its starting position.
Verification
Before merging, ensure the following criteria are met: