Revert back to open-loop voltage drive requests

CrossTheRoadElec · Feb 12, 2024 · 6963b52 · 6963b52
1 parent 9856cc0
commit 6963b52
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
@@ -23,7 +23,7 @@ public class RobotContainer {
 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
-      .withDriveRequestType(DriveRequestType.Velocity); // I want field-centric
+      .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric
                                                                // driving in open loop
   private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
   private final SwerveRequest.RobotCentric forwardStraight = new SwerveRequest.RobotCentric().withDriveRequestType(DriveRequestType.OpenLoopVoltage);