Updated YAGSL SparkMAX handling

2026-06-19 06:21:40 +00:00 · 2023-03-21 22:18:24 -05:00
parent 670154f061
commit e8e2edaf5a
110 changed files with 235 additions and 221 deletions
--- a/swervelib/motors/SparkMaxSwerve.java
+++ b/swervelib/motors/SparkMaxSwerve.java
@@ -295,11 +295,19 @@ public class SparkMaxSwerve extends SwerveMotor
  {
    int pidSlot =
        isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
-    pid.setReference(
-        setpoint,
-        isDriveMotor ? ControlType.kVelocity : ControlType.kPosition,
-        pidSlot,
-        feedforward);
+    if (isDriveMotor)
+    {
+      pid.setReference(
+          setpoint,
+          ControlType.kVelocity,
+          pidSlot,
+          feedforward);
+    } else
+    {
+      pid.setReference(
+          setpoint,
+          ControlType.kPosition);
+    }
  }

  /**