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Updated to include optional chassis correction.

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This commit is contained in:
thenetworkgrinch
2023-04-08 13:33:02 -05:00
parent f5aabb594f
commit 67c5980cbc
114 changed files with 367 additions and 257 deletions
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2
swervelib/SwerveModule.java
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@@ -209,7 +209,7 @@ public class SwerveModule
*/
public void setAngle(double angle)
{
angleMotor.setReference(angle, configuration.moduleSteerFFCL);
angleMotor.setReference(angle, 0);
lastState.angle = Rotation2d.fromDegrees(angle);
}