add comment

Frc5572 · Jan 14, 2024 · df82a1e · df82a1e
1 parent 051e806
commit df82a1e
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModule.java b/src/main/java/frc/lib/util/swerve/SwerveModule.java
@@ -78,6 +78,7 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop)
             double percentOutput = desiredState.speedMetersPerSecond / Constants.Swerve.maxSpeed;
             driveMotor.setControl(drivePower.withOutput(percentOutput));
         } else {
+            // See Line 186, swerveDriveFXConfig.Feedback.SensorToMechanismRatio
             double velocity = Conversions.mpsToFalconRPS(desiredState.speedMetersPerSecond,
                 Constants.Swerve.wheelCircumference, 1);
             driveMotor.setControl(driveSpeed.withVelocity(velocity));