# L140

1 file(s) copied, then 1 change(s) in 1 file(s), 4 line(s) of code to write.

## Copies

- `lessons/L140FieldRelativeOpMode.java` to `mytry/L140FieldRelativeOpMode.java`

## L140FieldRelativeOpMode

`TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mytry/L140FieldRelativeOpMode.java`

### A change

Delete 1 line, write 4 lines.

```diff
--- before this change
+++ after it
@@ -88,7 +88,10 @@
         // When on L140S040, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l140.html#l140s040
         // for what to do here.
-        drivetrain.sticks(forward, strafe, turn);
+        double heading = follower.pose().heading();
+        double robotForward = forward * Math.cos(heading) + strafe * Math.sin(heading);
+        double robotStrafe = -forward * Math.sin(heading) + strafe * Math.cos(heading);
+        drivetrain.sticks(robotForward, robotStrafe, turn);
 
         boolean buttonA = gamepad1.a;
         Tracker.publish("button/a", buttonA);
```