Fix swerve module speed deadbanding

StuyPulse · Jan 31, 2024 · e0b0d43 · e0b0d43
1 parent 672c5b9
commit e0b0d43
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/modules/SimModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/modules/SimModule.java
@@ -79,7 +79,7 @@ public void periodic() {
             Angle.fromRotation2d(getAngle())
         );
 
-        if (Math.abs(driveController.getOutput()) < Settings.Swerve.MODULE_VELOCITY_DEADBAND.get()) {
+        if (Math.abs(driveController.getSetpoint()) < Settings.Swerve.MODULE_VELOCITY_DEADBAND.get()) {
             driveSim.setInput(0);
             turnSim.setInput(0);
         } else {

diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/modules/SwerveModuleImpl.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/modules/SwerveModuleImpl.java
@@ -123,7 +123,7 @@ public void periodic() {
             Angle.fromRotation2d(getAngle())
         );
 
-        if (Math.abs(driveController.getOutput()) < Settings.Swerve.MODULE_VELOCITY_DEADBAND.get()) {
+        if (Math.abs(driveController.getSetpoint()) < Settings.Swerve.MODULE_VELOCITY_DEADBAND.get()) {
             driveMotor.setVoltage(0);
             turnMotor.setVoltage(0);
         } else {