Frc3620 #148
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Frc3620 #148
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Can you add the other patch where if desired speed velocity is 0 then cosine scalar is 0 too. |
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I can, but I don't understand what that does. I looked at it, and didn't understand how it addressed the issue I was having.
On Tuesday, January 23, 2024 at 10:40:32 PM EST, T Grinch ***@***.***> wrote:
Can you add the other patch where if desired speed velocity is 0 then cosine scalar is 0 too.
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I realized it does nothing as i was typing the explanation! 😂 No need to add it |
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Can you fix the merge conflicts? |
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Yes. Will do this afternoon.
On Thu, Jan 25, 2024 at 1:36 AM, T ***@***.***> wrote:
Can you fix the merge conflicts?
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# Conflicts: # src/main/java/swervelib/SwerveModule.java
done. |
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Add the ability to turn off the FRC900 cosine compensator in SwerveModule.java. Existing JSON configurations will continue to use it; one will have to be explicit to turn it off, and leaving the setting out of the JSON will leave it turned on as it is now.