Update YAGSL to handle controls better

swervelib/parser/json/PhysicalPropertiesJson.java

@@ -2,6 +2,7 @@ package swervelib.parser.json;
 
 import edu.wpi.first.math.util.Units;
 import swervelib.parser.SwerveModulePhysicalCharacteristics;
+import swervelib.telemetry.SwerveDriveTelemetry;
 
 /**
  * {@link swervelib.parser.SwerveModulePhysicalCharacteristics} parsed data. Used to configure the SwerveModule.
@@ -33,16 +34,16 @@ public class PhysicalPropertiesJson
    * The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.
    */
   public double            wheelGripCoefficientOfFriction = 1.19;
-  /**
-   * Angle motor free speed rotations per minute.
-   */
-  public double            angleMotorFreeSpeedRPM;
   /**
    * Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
-   * your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
-   * calculated kV will be used.
+   * your drive train does not drift towards the direction you are rotating while you translate. Default value is 0. If
+   * robot arcs while translating and rotating negate this.
    */
-  public double            angleMotorsKV                  = 0;
+  public double            moduleFeedForwardClosedLoop    = SwerveDriveTelemetry.isSimulation ? -0.33 : 0;
+  /**
+   * DEPRECATED: No longer needed, tune {@link PhysicalPropertiesJson#moduleFeedForwardClosedLoop} instead.
+   */
+  public double            angleMotorFreeSpeedRPM         = 0;
 
   /**
    * Create the physical characteristics based off the parsed data.
@@ -55,7 +56,6 @@ public class PhysicalPropertiesJson
     return new SwerveModulePhysicalCharacteristics(
         gearRatio.drive,
         gearRatio.angle,
-        angleMotorFreeSpeedRPM,
         Units.inchesToMeters(wheelDiameter),
         wheelGripCoefficientOfFriction,
         optimalVoltage,
@@ -65,7 +65,7 @@ public class PhysicalPropertiesJson
         rampRate.angle,
         encoderPulsePerRotation.drive,
         encoderPulsePerRotation.angle,
-        angleMotorsKV);
+        moduleFeedForwardClosedLoop);
   }
 }