Merge branch 'unit_tests' of https://github.com/team20/TestingBot int…

…o unit_tests
team20 · Jan 25, 2025 · 426c224 · 426c224
2 parents e03cfaa + 24c7c5f
commit 426c224
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -141,7 +141,9 @@ private SwerveModuleState[] calculateModuleStates(ChassisSpeeds speeds, boolean
 		if (isFieldRelative) {
 			speeds = ChassisSpeeds.fromFieldRelativeSpeeds(speeds, getHeading());
 		}
+		// speeds --> target module states
 		SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(speeds);
+		// normalization
 		SwerveDriveKinematics.desaturateWheelSpeeds(states, kTeleopMaxVoltage);
 		// Get the current module angles
 		double[] moduleAngles = { m_frontLeft.getModuleAngle(), m_frontRight.getModuleAngle(),