Team4388/2023WayOfTheRobot
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aarav18
2023-02-09 18:25:57 -07:00
parent 4900c397c4
commit 5a8af1d071
3 changed files with 17 additions and 18 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+2 -2
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@@ -132,13 +132,13 @@ public class SwerveModule extends SubsystemBase {
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
// calculate the difference between our current rotational position and our new rotational position
Rotation2d rotationDelta = state.angle.minus(currentRotation); // ? might need to be negative
Rotation2d rotationDelta = state.angle.minus(currentRotation);
// calculate the new absolute position of the SwerveModule based on the difference in rotation
double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
// convert the CANCoder from its position reading to ticks
double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient(); // ? why feedback coefficient
double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
if (!ignoreAngle) {
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);