fixed snapping

grt192 · Apr 10, 2024 · 2abec6d · 2abec6d
1 parent 4938501
commit 2abec6d
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
@@ -199,9 +199,7 @@ public SwerveSubsystem(BooleanSupplier redSupplier) {
                         FL_POS.getNorm(), // Drive base radius in meters. Distance from robot center to furthest module.
                         new ReplanningConfig(true, true)
                 ),
-            () -> {
-                return false;
-            },
+            redSupplier,
             this
         );
 

diff --git a/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java b/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java
@@ -24,6 +24,7 @@ public class VortexDriveMotor implements SwerveDriveMotor {
     public VortexDriveMotor(int canID) {
         motor = new CANSparkFlex(canID, MotorType.kBrushless);
         motor.setIdleMode(IdleMode.kBrake);
+        motor.setClosedLoopRampRate(.1);
 
         encoder = motor.getEncoder();
         encoder.setVelocityConversionFactor(conversionFactor); //STUB