From 6963b5203d51e1e5522e23c349b1050a87dc6f9a Mon Sep 17 00:00:00 2001 From: CoryNessCTR Date: Mon, 12 Feb 2024 11:42:16 -0500 Subject: [PATCH] Revert back to open-loop voltage drive requests --- .../src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java index bd6a2018..0d7061c6 100644 --- 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);