From f863c7fb9272b39a5442f21f60f1dda3927a8f46 Mon Sep 17 00:00:00 2001 From: Gael Date: Wed, 24 Jan 2024 17:23:32 -0600 Subject: [PATCH] finished --- src/main/java/frc/lib/util/swerve/SwerveModule.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/lib/util/swerve/SwerveModule.java b/src/main/java/frc/lib/util/swerve/SwerveModule.java index a1fa103..546acf1 100644 --- a/src/main/java/frc/lib/util/swerve/SwerveModule.java +++ b/src/main/java/frc/lib/util/swerve/SwerveModule.java @@ -55,7 +55,7 @@ public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int ca /* Angle Encoder Config */ swerveCANcoderConfig.MagnetSensor.SensorDirection = Constants.Swerve.cancoderInvert; - angleEncoder = new CANcoder(cancoderID); + angleEncoder = new CANcoder(cancoderID, "canivore"); angleEncoder.getConfigurator().apply(swerveCANcoderConfig); /* Angle Motor Config */ @@ -80,7 +80,7 @@ public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int ca swerveAngleFXConfig.Slot0.kP = Constants.Swerve.angleKP; swerveAngleFXConfig.Slot0.kI = Constants.Swerve.angleKI; swerveAngleFXConfig.Slot0.kD = Constants.Swerve.angleKD; - mAngleMotor = new TalonFX(angleMotorID); + mAngleMotor = new TalonFX(angleMotorID, "canivore"); mAngleMotor.getConfigurator().apply(swerveAngleFXConfig); resetToAbsolute(); @@ -115,7 +115,7 @@ public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int ca Constants.Swerve.closedLoopRamp; swerveDriveFXConfig.ClosedLoopRamps.VoltageClosedLoopRampPeriod = Constants.Swerve.closedLoopRamp; - mDriveMotor = new TalonFX(driveMotorID); + mDriveMotor = new TalonFX(driveMotorID, "canivore"); mDriveMotor.getConfigurator().apply(swerveDriveFXConfig); mDriveMotor.getConfigurator().setPosition(0.0); }