[examples] Fix ProfiledPIDFeedForward after merge

2026-06-20 00:51:42 +00:00 · 2025-11-01 10:01:42 -07:00
parent cc043df07f
commit 3f88c287d6
1 changed files with 1 additions and 3 deletions
--- 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;
  }