From dcc6bd84718c89702164a3a45ff8fa17e218d44e Mon Sep 17 00:00:00 2001
From: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Date: Thu, 18 Jan 2024 17:11:30 -0600
Subject: [PATCH] Removed PIDF scaling for TalonFX's

---
 swervelib/motors/TalonFXSwerve.java | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/swervelib/motors/TalonFXSwerve.java b/swervelib/motors/TalonFXSwerve.java
index e6e6b99..29cdf97 100644
--- a/swervelib/motors/TalonFXSwerve.java
+++ b/swervelib/motors/TalonFXSwerve.java
@@ -240,12 +240,6 @@ public class TalonFXSwerve extends SwerveMotor
   @Override
   public void configurePIDF(PIDFConfig config)
   {
-    if(!isDriveMotor)
-    {
-      config.p *= 360;
-      config.i *= 360;
-      config.d *= 360;
-    }
 
     TalonFXConfigurator cfg = motor.getConfigurator();
     cfg.refresh(configuration.Slot0);