From d310ff8390dc18121fb5cbdcaa82a65bc215c38d Mon Sep 17 00:00:00 2001 From: Jay Date: Thu, 11 Jan 2024 19:41:12 -0800 Subject: [PATCH] update constant --- src/main/java/frc/robot/Constants.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index efcc937..c9e6434 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -141,11 +141,11 @@ public static final class Params { public static final Slot0Configs STEER_MOTOR_GAINS = new Slot0Configs().withKP(0).withKI(0).withKD(0).withKS(0).withKV(0).withKA(0); public static final ClosedLoopOutputType DRIVE_CLOSED_LOOP_OUTPUT = - ClosedLoopOutputType.Voltage; + ClosedLoopOutputType.TorqueCurrentFOC; public static final ClosedLoopOutputType STEER_CLOSED_LOOP_OUTPUT = - ClosedLoopOutputType.Voltage; // also paywall, but not important? + ClosedLoopOutputType.TorqueCurrentFOC; public static final SteerFeedbackType FEEDBACK_SOURCE = - SteerFeedbackType.RemoteCANcoder; // other types locked by paywall + SteerFeedbackType.FusedCANcoder; // dunno if this is the best option public static final double SPEED_TWELVE_VOLTS = 0; public static final double SLIP_CURRENT = 0; }