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constants reworked (needs testing, which will be done with odometry testing)

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aarav18
2022-01-20 19:00:42 -07:00
parent 93f83986e5
commit bfa044e340
3 changed files with 36 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+1 -1
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@@ -100,7 +100,7 @@ public class SwerveModule extends SubsystemBase {
* @return The current state of the module.
*/
public SwerveModuleState getState() {
return new SwerveModuleState(driveMotor.getSelectedSensorVelocity(), new Rotation2d(canCoder.getPosition()));
return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, new Rotation2d(canCoder.getPosition()));
}
}