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Added lock mode, autonomous example

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This commit is contained in:
thenetworkgrinch
2023-02-13 23:03:31 -06:00
parent b9e4b328a9
commit eb872a6976
1 changed files with 1 additions and 3 deletions
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4
swervelib/SwerveDrive.java
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@@ -27,8 +27,6 @@ import swervelib.parser.SwerveDriveConfiguration;
public class SwerveDrive
{
//
// Swerve base kinematics object
/**
* Swerve Kinematics object utilizing second order kinematics.
*/
@@ -156,7 +154,7 @@ public class SwerveDrive
// Sets states
for (SwerveModule module : swerveModules)
{
module.setDesiredState(desiredStates[module.moduleNumber], false); // Todo: Send isOpenLoop
module.setDesiredState(desiredStates[module.moduleNumber], isOpenLoop);
SmartDashboard.putNumber("Module " + module.moduleNumber + " Speed Setpoint: ",
desiredStates[module.moduleNumber].speedMetersPerSecond);
SmartDashboard.putNumber("Module " + module.moduleNumber + " Angle Setpoint: ",