From 2abec6dadaf804aae847002f66f0f773a5fc09cf Mon Sep 17 00:00:00 2001 From: penguin212 Date: Wed, 10 Apr 2024 13:17:37 -0700 Subject: [PATCH] fixed snapping --- .../java/frc/robot/subsystems/swerve/SwerveSubsystem.java | 4 +--- .../robot/subsystems/swerve/drivemotors/VortexDriveMotor.java | 1 + 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 0b44bfaa..0f4f07f7 100644 --- 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 index b2528ea4..0e85e161 100644 --- 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