Team4388/2023WayOfTheRobot
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fix ignoreangles

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This commit is contained in:
Aarav Shah
2023-02-27 18:08:25 -07:00
committed by GitHub
parent 172dc46e65
commit df81b70fa4
1 changed files with 2 additions and 4 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+2 -4
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@@ -125,9 +125,7 @@ public class SwerveModule extends SubsystemBase {
// convert the CANCoder from its position reading to ticks // convert the CANCoder from its position reading to ticks
double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient(); 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); double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
@@ -146,4 +144,4 @@ public class SwerveModule extends SubsystemBase {
public double getVoltage() { public double getVoltage() {
return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage())); return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage()));
} }
} }