From ab15dae8874aafabb5df1e566f89de22b0f8d5b4 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Fri, 15 Dec 2023 09:18:45 -0800 Subject: [PATCH] [wpilib] ArcadeDrive: Fix max output handling (#6051) --- wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp index 8cce62eeb0..b72b22b80c 100644 --- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp @@ -40,8 +40,8 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation, auto [left, right] = ArcadeDriveIK(xSpeed, zRotation, squareInputs); - m_leftMotor->Set(left); - m_rightMotor->Set(right); + m_leftMotor->Set(left * m_maxOutput); + m_rightMotor->Set(right * m_maxOutput); Feed(); }