From 3fd8493ccbbd0cc274aaac029d39d9626f78d82b Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Wed, 20 Dec 2023 09:52:56 -0600 Subject: [PATCH] Removed async SparkMAX config --- swervelib/motors/SparkMaxBrushedMotorSwerve.java | 4 ++-- swervelib/motors/SparkMaxSwerve.java | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/swervelib/motors/SparkMaxBrushedMotorSwerve.java index bab8719..ba1add7 100644 --- a/swervelib/motors/SparkMaxBrushedMotorSwerve.java +++ b/swervelib/motors/SparkMaxBrushedMotorSwerve.java @@ -88,8 +88,8 @@ public class SparkMaxBrushedMotorSwerve extends SwerveMotor // Configure feedback of the PID controller as the integrated encoder. configureSparkMax(() -> pid.setFeedbackDevice(encoder)); } - - configureSparkMax(() -> motor.setCANTimeout(0)); // Spin off configurations in a different thread. + // Spin off configurations in a different thread. + // configureSparkMax(() -> motor.setCANTimeout(0)); // Commented it out because it prevents feedback. } /** diff --git a/swervelib/motors/SparkMaxSwerve.java b/swervelib/motors/SparkMaxSwerve.java index 7d97cae..7ec5c2b 100644 --- a/swervelib/motors/SparkMaxSwerve.java +++ b/swervelib/motors/SparkMaxSwerve.java @@ -62,7 +62,7 @@ public class SparkMaxSwerve extends SwerveMotor encoder); // Configure feedback of the PID controller as the integrated encoder. // Spin off configurations in a different thread. - configureSparkMax(() -> motor.setCANTimeout(0)); + // configureSparkMax(() -> motor.setCANTimeout(0)); // Commented out because it prevents feedback. } /**