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[wpilibjexamples] Remove unnecessary voltage desaturation

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This commit is contained in:
Prateek Machiraju
2022-06-02 20:10:50 -07:00
committed by Peter Johnson
parent 2fa52007af
commit a4ec13eb0e
1 changed files with 0 additions and 5 deletions
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5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
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@@ -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();