From a4ec13eb0e732a938ffb1dc44f6c228be50fdb5f Mon Sep 17 00:00:00 2001
From: Prateek Machiraju <prateek.machiraju@gmail.com>
Date: Thu, 2 Jun 2022 20:10:50 -0700
Subject: [PATCH] [wpilibjexamples] Remove unnecessary voltage desaturation

---
 .../subsystems/DriveSubsystem.java                           | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
index 15181405db..e1b3363531 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
@@ -194,11 +194,6 @@ public class DriveSubsystem extends SubsystemBase {
    * @param rightVolts the commanded right output
    */
   public void tankDriveVolts(double leftVolts, double rightVolts) {
-    var batteryVoltage = RobotController.getBatteryVoltage();
-    if (Math.max(Math.abs(leftVolts), Math.abs(rightVolts)) > batteryVoltage) {
-      leftVolts *= batteryVoltage / 12.0;
-      rightVolts *= batteryVoltage / 12.0;
-    }
     m_leftMotors.setVoltage(leftVolts);
     m_rightMotors.setVoltage(rightVolts);
     m_drive.feed();