fix(swerve): Run drive motor open loop for now.

Gongoliers · Jan 12, 2024 · fff486f · fff486f
1 parent 0dc7979
commit fff486f
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/swerve/DriveMotorIOTalonFXPID.java b/src/main/java/frc/robot/swerve/DriveMotorIOTalonFXPID.java
@@ -39,7 +39,7 @@ public void setSetpoint(double velocityMetersPerSecond) {
     if (velocityMetersPerSecond == 0.0) {
       talonFX.setControl(new CoastOut());
     } else {
-      talonFX.setControl(calculateVelocityVoltage(velocityMetersPerSecond));
+      talonFX.setControl(new VoltageOut(velocityMetersPerSecond / SwerveConstants.MAXIMUM_SPEED * 12));
     }
   }
 

diff --git a/src/main/java/frc/robot/swerve/SwerveFactory.java b/src/main/java/frc/robot/swerve/SwerveFactory.java
@@ -79,8 +79,7 @@ public static TalonFXConfiguration createSteerMotorConfig() {
    * @return a drive motor.
    */
   public static DriveMotorIO createDriveMotor(SwerveModuleConfig config) {
-    //if (Robot.isReal()) return new DriveMotorIOTalonFXPID(config.moduleCAN().drive());
-    if (Robot.isReal()) return new DriveMotorIOSim();
+    if (Robot.isReal()) return new DriveMotorIOTalonFXPID(config.moduleCAN().drive());
 
     return new DriveMotorIOSim();
   }