correct angle controller

StuyPulse · Apr 4, 2024 · 458ca15 · 458ca15
1 parent e204606
commit 458ca15
Showing 1 changed file with 9 additions and 9 deletions.
diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModule.java
@@ -125,17 +125,17 @@ public void periodic() {
         } 
         else {
             driveMotor.setVoltage(driveController.calculate(targetState.speedMetersPerSecond));
-            turnMotor.setVoltage(turnController.calculate(getAngle().getRadians(), targetState.angle.getRadians()));
+            turnMotor.setVoltage(turnController.calculate(getAngle().getDegrees(), targetState.angle.getDegrees()));
         } 
 
-        SmartDashboard.putNumber(id + "/Drive Current", driveMotor.getOutputCurrent());
-        SmartDashboard.putNumber(id + "/Drive Position", driveEncoder.getPosition());
-        SmartDashboard.putNumber(id + "/Drive Voltage", driveMotor.getBusVoltage());
-        SmartDashboard.putNumber(id + "/Turn Voltage", turnMotor.getBusVoltage());
-        SmartDashboard.putNumber(id + "/Turn Current", turnMotor.getOutputCurrent());
-        SmartDashboard.putNumber(id + "/Raw Encoder Angle", Units.rotationsToDegrees(turnEnoder.getAbsolutePosition().getValueAsDouble()));
-        SmartDashboard.putNumber(id + "/Target Angle", Units.rotationsToDegrees(targetState.angle.getRadians()));
-        SmartDashboard.putNumber(id + "/Target Speed", targetState.speedMetersPerSecond);
+        SmartDashboard.putNumber(getID() + "/Drive Current", driveMotor.getOutputCurrent());
+        SmartDashboard.putNumber(getID() + "/Drive Position", driveEncoder.getPosition());
+        SmartDashboard.putNumber(getID() + "/Drive Voltage", driveMotor.getBusVoltage());
+        SmartDashboard.putNumber(getID() + "/Turn Voltage", turnMotor.getBusVoltage());
+        SmartDashboard.putNumber(getID() + "/Turn Current", turnMotor.getOutputCurrent());
+        SmartDashboard.putNumber(getID() + "/Raw Encoder Angle", Units.rotationsToDegrees(turnEnoder.getAbsolutePosition().getValueAsDouble()));
+        SmartDashboard.putNumber(getID() + "/Target Angle", Units.rotationsToDegrees(targetState.angle.getRadians()));
+        SmartDashboard.putNumber(getID() + "/Target Speed", targetState.speedMetersPerSecond);
 
     }
 }