From b26816b742ded24ffc91de3e9f705b4340c58700 Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Tue, 23 Jan 2024 08:24:21 -0600 Subject: [PATCH] Added fix so wheels dont move when absolute encoder's are not tuned. Signed-off-by: thenetworkgrinch --- src/main/java/swervelib/SwerveModule.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java index 4800c30a..cc4cfefa 100644 --- a/src/main/java/swervelib/SwerveModule.java +++ b/src/main/java/swervelib/SwerveModule.java @@ -208,7 +208,7 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop, /* If the error is close to 0.25 rotations, then we're 90 degrees, so movement doesn't help us at all */ double cosineScalar = Math.cos(Units.degreesToRadians(steerMotorError)); /* Make sure we don't invert our drive, even though we shouldn't ever target over 90 degrees anyway */ - if (cosineScalar < 0.0) + if (cosineScalar < 0.0 || desiredState.speedMetersPerSecond == 0) { cosineScalar = 0.0; }