From 464274918c49ad71ce81bdd204f101f35b7b5cb7 Mon Sep 17 00:00:00 2001
From: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Date: Tue, 23 Jan 2024 08:26:01 -0600
Subject: [PATCH] Added fix for wheels to prevent movement when absolute
 encoders are not configured.

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

diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java
index 4800c30..cc4cfef 100644
--- a/swervelib/SwerveModule.java
+++ b/swervelib/SwerveModule.java
@@ -208,7 +208,7 @@ public class SwerveModule
       /* If the error is close to 0.25 rotations, then we're 90 degrees, so movement doesn't help us at all */
       double cosineScalar = Math.cos(Units.degreesToRadians(steerMotorError));
       /* Make sure we don't invert our drive, even though we shouldn't ever target over 90 degrees anyway */
-      if (cosineScalar < 0.0)
+      if (cosineScalar < 0.0 || desiredState.speedMetersPerSecond == 0)
       {
         cosineScalar = 0.0;
       }