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Updated YAGSL

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This commit is contained in:
thenetworkgrinch
2023-02-22 20:50:16 -06:00
parent 8bfa4a8824
commit dd7d432e90
111 changed files with 497 additions and 276 deletions
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4
swervelib/SwerveModule.java
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@@ -90,12 +90,12 @@ public class SwerveModule
{
absoluteEncoder.factoryDefault();
absoluteEncoder.configure(moduleConfiguration.absoluteEncoderInverted);
angleMotor.setPosition(absoluteEncoder.getAbsolutePosition() - angleOffset);
angleMotor.setPosition(getAbsolutePosition() - angleOffset);
}
// Config angle motor/controller
angleMotor.configureIntegratedEncoder(
moduleConfiguration.getPositionEncoderConversion(false));
moduleConfiguration.getPositionEncoderConversion(false));
angleMotor.configurePIDF(moduleConfiguration.anglePIDF);
angleMotor.configurePIDWrapping(-180, 180);
angleMotor.setInverted(moduleConfiguration.angleMotorInverted);