Big win

FRC-7525 · Nov 8, 2024 · f94f3f5 · f94f3f5
1 parent de726e2
commit f94f3f5
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/pioneersLib/bumSwerve/SwerveMotor/SwerveMotorIOTalonFX.java b/src/main/java/frc/robot/pioneersLib/bumSwerve/SwerveMotor/SwerveMotorIOTalonFX.java
@@ -161,10 +161,10 @@ public void setVoltage(double volts) {
     public void setPosition(double setpoint) {
         if (isDrive) throw new UnsupportedOperationException("Cannot set position on a drive motor");
 
-        // PositionVoltage command = new PositionVoltage(setpoint * gearRatio/360).withSlot(0);
-        // motor.setControl(command);
+        PositionVoltage command = new PositionVoltage(setpoint/360).withSlot(0);
+        motor.setControl(command);
 
-        setVoltage(feedbackController.calculate(getAngle().getDegrees(), setpoint));
+        // setVoltage(feedbackController.calculate(getAngle().getDegrees(), setpoint));
 
         positionError = Math.abs(setpoint/360 - motorPosition.getValueAsDouble());
     }