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Ryan Manley
2022-02-19 11:18:58 -07:00
parent a3fc1b4d14
commit a75e98d911
1 changed files with 1 additions and 4 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+1 -4
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@@ -91,16 +91,13 @@ public class SwerveModule extends SubsystemBase {
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); 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. // 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(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(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC) + angleMotor.get()); driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC) + angleMotor.get());
>>>>>>> Stashed changes
} }
/** /**