From f929f12e41970c7fccd46cc4463b237d9521826e Mon Sep 17 00:00:00 2001
From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com>
Date: Fri, 3 Feb 2023 19:16:56 +0000
Subject: [PATCH] Changed default feedforward to use battery voltage.

---
 swervelib/SwerveModule.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java
index 0b53779..fd87d33 100644
--- a/swervelib/SwerveModule.java
+++ b/swervelib/SwerveModule.java
@@ -17,6 +17,7 @@ import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.AnalogEncoder;
 import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -413,7 +414,7 @@ public class SwerveModule<DriveMotorType extends MotorController, AngleMotorType
    */
   public void setVelocity(double velocity)
   {
-    driveMotor.setTarget(velocity, driveFeedforward.calculate(velocity));
+    driveMotor.setTarget(velocity, driveFeedforward.calculate(velocity) / RobotController.getBatteryVoltage());
   }
 
   /**