From 5a52f985ce4bc9cab81f5cac840a421eb1b6d8d3 Mon Sep 17 00:00:00 2001 From: iefomit Date: Mon, 23 Mar 2026 16:06:08 -0700 Subject: [PATCH] enable feedforward, set closed loop to 0 --- src/main/java/frc/robot/subsystems/drivetrain/Module.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Module.java b/src/main/java/frc/robot/subsystems/drivetrain/Module.java index d0ada94..e62c922 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java @@ -252,10 +252,11 @@ public class Module implements ModuleIO{ double velocity = desiredState.speedMetersPerSecond/DriveConstants.WHEEL_RADIUS/2/Math.PI*DriveConstants.DRIVE_GEAR_RATIO; Logger.recordOutput("desired vel" + moduleConstants.ordinal(), velocity); + double feedforward = desiredState.speedMetersPerSecond * moduleConstants.getDriveV(); driveMotor.setControl( velocityRequest - .withVelocity(velocity)); - ///.withFeedForward(feedforward)); + .withVelocity(velocity) + .withFeedForward(feedforward)); } } @@ -365,7 +366,7 @@ public class Module implements ModuleIO{ driveMotor.getConfigurator().apply(config); driveMotor.getConfigurator().apply(new MotorOutputConfigs().withInverted(DriveConstants.INVERT_DRIVE_MOTOR)); driveMotor.getConfigurator().apply(new OpenLoopRampsConfigs().withDutyCycleOpenLoopRampPeriod(DriveConstants.OPEN_LOOP_RAMP)); - driveMotor.getConfigurator().apply(new ClosedLoopRampsConfigs().withDutyCycleClosedLoopRampPeriod(DriveConstants.OPEN_LOOP_RAMP)); + driveMotor.getConfigurator().apply(new ClosedLoopRampsConfigs().withDutyCycleClosedLoopRampPeriod(0.0)); driveMotor.setNeutralMode(DriveConstants.DRIVE_NEUTRAL_MODE); } -- 2.39.5