From a5eb6d05e984a6b6527f8104cd874da06c35c4d1 Mon Sep 17 00:00:00 2001
From: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Date: Sat, 17 Feb 2024 08:13:53 -0600
Subject: [PATCH] Updated 2024.4.8.1

---
 swervelib/SwerveModule.java | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java
index a74806e..0957211 100644
--- a/swervelib/SwerveModule.java
+++ b/swervelib/SwerveModule.java
@@ -248,6 +248,14 @@ public class SwerveModule
   public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop, boolean force)
   {
     desiredState = SwerveModuleState.optimize(desiredState, Rotation2d.fromDegrees(getAbsolutePosition()));
+
+    // If we are forcing the angle
+    if (!force)
+    {
+      // Prevents module rotation if speed is less than 1%
+      SwerveMath.antiJitter(desiredState, lastState, Math.min(maxSpeed, 4));
+    }
+
     // Cosine compensation.
     double velocity = configuration.useCosineCompensator
                       ? getCosineCompensatedVelocity(desiredState)
@@ -263,13 +271,6 @@ public class SwerveModule
       desiredState.speedMetersPerSecond = velocity;
     }
 
-    // If we are forcing the angle
-    if (!force)
-    {
-      // Prevents module rotation if speed is less than 1%
-      SwerveMath.antiJitter(desiredState, lastState, Math.min(maxSpeed, 4));
-    }
-
     // Prevent module rotation if angle is the same as the previous angle.
     // Synchronize encoders if queued and send in the current position as the value from the absolute encoder.
     if (absoluteEncoder != null && synchronizeEncoderQueued)