multiply number

Author: Owen756

src/main/java/frc/robot/swerve/SwerveSubsystem.java

@@ -237,12 +237,12 @@ public void driveTeleop(double x, double y, double theta) {
       DogLog.log("Swerve/polartheta", polarTheta);
 
     // polar -> xytheta
-    double polarX = (r * Math.cos(polarTheta) * );
-    double polarY = (r * Math.sin(polarTheta));
+    double polarX = (r * Math.cos(polarTheta) * Math.sqrt(Math.pow(Math.sin(polarTheta), 2) + 1));
+    double polarY = (r * Math.sin(polarTheta) * Math.sqrt(Math.pow(Math.sin(polarTheta), 2) + 1));
       DogLog.log("Swerve/polarx", polarX);
       DogLog.log("Swerve/polary", polarY);
     }
-    
+
     // xytheta -> swerve
     teleopSpeeds =
         new ChassisSpeeds(