From 3f88c287d6007f6be9fc5409aa9c42d41a504005 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Sat, 1 Nov 2025 10:01:42 -0700
Subject: [PATCH] [examples] Fix ProfiledPIDFeedForward after merge

---
 .../first/wpilibj/snippets/profiledpidfeedforward/Robot.java  | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/profiledpidfeedforward/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/profiledpidfeedforward/Robot.java
index 9f30e73e5f..4c60a509d7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/profiledpidfeedforward/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/profiledpidfeedforward/Robot.java
@@ -37,9 +37,7 @@ public class Robot extends TimedRobot {
   public void goToPosition(double goalPosition) {
     double pidVal = m_controller.calculate(m_encoder.getDistance(), goalPosition);
     m_motor.setVoltage(
-        pidVal
-            + m_feedforward.calculateWithVelocities(
-                m_lastSpeed, m_controller.getSetpoint().velocity));
+        pidVal + m_feedforward.calculate(m_lastSpeed, m_controller.getSetpoint().velocity));
     m_lastSpeed = m_controller.getSetpoint().velocity;
   }