Team4388/2023WayOfTheRobot
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aarav18
2023-02-02 19:43:47 -07:00
parent 188bd89fe0
commit f9b89de6c5
4 changed files with 14 additions and 9 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+1 -1
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@@ -140,7 +140,7 @@ public class SwerveModule extends SubsystemBase {
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
double inchesPerSecond = Units.metersToInches(state.speedMetersPerSecond);
driveMotor.set(/*angleMotor.get() + */feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
driveMotor.set(-1 * angleMotor.get() + feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
// driveMotor.set(TalonFXControlMode.Velocity, inchesPerSecond * SwerveDriveConstants.Conversions.TICKS_PER_INCH * SwerveDriveConstants.Conversions.SECONDS_TO_TICK_TIME);
}