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Changed default feedforward to use battery voltage.

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T Grinch
2023-02-03 19:16:56 +00:00
parent 63321deb1e
commit f929f12e41
1 changed files with 2 additions and 1 deletions
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3
swervelib/SwerveModule.java
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@@ -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());
}
/**