Fix velocity/position requests

CrossTheRoadElec · Dec 1, 2023 · 9cf48ac · 9cf48ac
1 parent 9455ac8
commit 9cf48ac
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java b/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java
@@ -25,9 +25,9 @@ public class Robot extends TimedRobot {
 
   /* Be able to switch which control request to use based on a button press */
   /* Start at position 0, enable FOC, no feed forward, use slot 0 */
-  private final PositionVoltage m_voltagePosition = new PositionVoltage(0, 0, true, 0, 0, false);
+  private final PositionVoltage m_voltagePosition = new PositionVoltage(0, 0, true, 0, 0, false, false, false);
   /* Start at position 0, no feed forward, use slot 1 */
-  private final PositionTorqueCurrentFOC m_torquePosition = new PositionTorqueCurrentFOC(0, 0, 0, 1, false);
+  private final PositionTorqueCurrentFOC m_torquePosition = new PositionTorqueCurrentFOC(0, 0, 0, 1, false, false, false);
   /* Keep a brake request so we can disable the motor */
   private final NeutralOut m_brake = new NeutralOut();
 

diff --git a/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java b/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java
@@ -27,9 +27,9 @@ public class Robot extends TimedRobot {
 
   /* Be able to switch which control request to use based on a button press */
   /* Start at velocity 0, enable FOC, no feed forward, use slot 0 */
-  private final VelocityVoltage m_voltageVelocity = new VelocityVoltage(0, 0, true, 0, 0, false);
+  private final VelocityVoltage m_voltageVelocity = new VelocityVoltage(0, 0, true, 0, 0, false, false, false);
   /* Start at velocity 0, no feed forward, use slot 1 */
-  private final VelocityTorqueCurrentFOC m_torqueVelocity = new VelocityTorqueCurrentFOC(0, 0, 0, 1, false);
+  private final VelocityTorqueCurrentFOC m_torqueVelocity = new VelocityTorqueCurrentFOC(0, 0, 0, 1, false, false, false);
   /* Keep a neutral out so we can disable the motor */
   private final NeutralOut m_brake = new NeutralOut();