Team4388/2023WayOfTheRobot
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Merge branch 'master' into vision-april-lime

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Aarav Shah
2023-02-27 17:37:08 -07:00
committed by GitHub
parent 92243d0942 61f5911e48
commit deaf36df0a
14 changed files with 957 additions and 90 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+4 -1
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@@ -124,7 +124,10 @@ public class SwerveModule extends SubsystemBase {
// convert the CANCoder from its position reading to ticks
double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
if (!ignoreAngle) {
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
}
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);