From df81b70fa43d963f56150c679251aae9db07edbe Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 27 Feb 2023 18:08:25 -0700 Subject: [PATCH] fix ignoreangles --- src/main/java/frc4388/robot/subsystems/SwerveModule.java | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 2ed5df8..64e8f89 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -125,9 +125,7 @@ public class SwerveModule extends SubsystemBase { // convert the CANCoder from its position reading to ticks double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient(); - if (!ignoreAngle) { - angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks); - } + angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks); double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); @@ -146,4 +144,4 @@ public class SwerveModule extends SubsystemBase { public double getVoltage() { return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage())); } -} \ No newline at end of file +}