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Merge branch 'swerve' of https://github.com/Team4388/2022NoWayHome into swerve

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evan
2022-03-05 11:22:35 -07:00
parent a5058b4ad8 3d6f9d606d
commit ca9b247955
10 changed files with 234 additions and 177 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+3 -3
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@@ -47,9 +47,9 @@ public class SwerveModule extends SubsystemBase {
TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration();
angleTalonFXConfiguration.slot0.kP = m_swerveGains.m_kP;
angleTalonFXConfiguration.slot0.kI = m_swerveGains.m_kI;
angleTalonFXConfiguration.slot0.kD = m_swerveGains.m_kD;
angleTalonFXConfiguration.slot0.kP = m_swerveGains.kP;
angleTalonFXConfiguration.slot0.kI = m_swerveGains.kI;
angleTalonFXConfiguration.slot0.kD = m_swerveGains.kD;
// Use the CANCoder as the remote sensor for the primary TalonFX PID
angleTalonFXConfiguration.remoteFilter0.remoteSensorDeviceID = canCoder.getDeviceID();