From 085f2001b31858c90b708606052fc51f7c920d72 Mon Sep 17 00:00:00 2001 From: iefomit Date: Mon, 6 Apr 2026 11:42:17 -0700 Subject: [PATCH] removed fused --- src/main/java/frc/robot/subsystems/drivetrain/Module.java | 8 -------- 1 file changed, 8 deletions(-) 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; -- 2.39.5