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Added falcon feedforward for drive motors

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This commit is contained in:
thenetworkgrinch
2024-01-16 16:49:05 -06:00
parent c339d2f482
commit 0d790c3cdd
1 changed files with 1 additions and 1 deletions
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2
swervelib/motors/TalonFXSwerve.java
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@@ -323,7 +323,7 @@ public class TalonFXSwerve extends SwerveMotor
if (isDriveMotor)
{
motor.setControl(m_velocityVoltageSetter.withVelocity(setpoint));
motor.setControl(m_velocityVoltageSetter.withVelocity(setpoint).withFeedForward(feedforward));
} else
{
motor.setControl(m_angleVoltageSetter.withPosition(setpoint));