From: iefomit <timofei.stem@gmail.com>
Date: Mon, 6 Apr 2026 18:42:17 +0000 (-0700)
Subject: removed fused
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=085f2001b31858c90b708606052fc51f7c920d72;p=FRC2026.git

removed fused
---

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Module.java b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
index 06a44df..38bc9e7 100644
--- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
@@ -9,7 +9,6 @@ import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import com.ctre.phoenix6.configs.FeedbackConfigs;
 import com.ctre.phoenix6.configs.MagnetSensorConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
@@ -21,7 +20,6 @@ import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.controls.PositionDutyCycle;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 
 import edu.wpi.first.math.MathUtil;
@@ -320,12 +318,6 @@ public class Module implements ModuleIO{
     private void configAngleMotor() {
         angleMotor.getConfigurator().apply(new TalonFXConfiguration());
         
-        // configure FusedCANcoder feedback
-        FeedbackConfigs feedbackConfigs = new FeedbackConfigs();
-        feedbackConfigs.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
-        feedbackConfigs.FeedbackRemoteSensorID = moduleConstants.getEncoderPort();
-        angleMotor.getConfigurator().apply(feedbackConfigs);
-        
         CurrentLimitsConfigs config = new CurrentLimitsConfigs();
         config.SupplyCurrentLimitEnable = DriveConstants.STEER_ENABLE_CURRENT_LIMIT;
         config.SupplyCurrentLimit = DriveConstants.STEER_CONTINUOUS_CURRENT_LIMIT;