From 0d790c3cdd121170c813f4cceabcf85dae78c4e5 Mon Sep 17 00:00:00 2001
From: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Date: Tue, 16 Jan 2024 16:49:05 -0600
Subject: [PATCH] Added falcon feedforward for drive motors

---
 swervelib/motors/TalonFXSwerve.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/swervelib/motors/TalonFXSwerve.java b/swervelib/motors/TalonFXSwerve.java
index c292cca..af29e21 100644
--- a/swervelib/motors/TalonFXSwerve.java
+++ b/swervelib/motors/TalonFXSwerve.java
@@ -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));