From a75e98d911ec4c364c3a6817a46b2e25ae040ebc Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 19 Feb 2022 11:18:58 -0700 Subject: [PATCH] Merge conflict --- src/main/java/frc4388/robot/subsystems/SwerveModule.java | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index d9c7665..c2af4e3 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -91,16 +91,13 @@ public class SwerveModule extends SubsystemBase { double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); -<<<<<<< Updated upstream // Add this line to correct for the slight drive movement the angle motor makes when turning in place. // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); - driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC); -======= + // driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC); // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC) + angleMotor.get()); ->>>>>>> Stashed changes } /**