enabled 10v saturation on volatge compensation on intake and feeder

Valor6800 · Apr 2, 2022 · b9c8681 · b9c8681
1 parent b0bced4
commit b9c8681
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/Competition/src/main/cpp/subsystems/Feeder.cpp b/Competition/src/main/cpp/subsystems/Feeder.cpp
@@ -29,10 +29,14 @@ void Feeder::init()
     motor_intake.ConfigSelectedFeedbackSensor(FeedbackDevice::IntegratedSensor, 0, 10);
     motor_intake.SetNeutralMode(ctre::phoenix::motorcontrol::Coast);
     motor_intake.SetInverted(false);
+    motor_intake.EnableVoltageCompensation(true);
+    motor_intake.ConfigVoltageCompSaturation(10);
 
     motor_stage.ConfigSelectedFeedbackSensor(FeedbackDevice::IntegratedSensor, 0, 10);
     motor_stage.SetNeutralMode(ctre::phoenix::motorcontrol::Coast);
     motor_stage.SetInverted(true);
+    motor_stage.EnableVoltageCompensation(true);
+    motor_stage.ConfigVoltageCompSaturation(10);
 
     table->PutBoolean("Reverse Feeder?", false);
     table->PutNumber("Intake Reverse Speed", FeederConstants::DEFAULT_INTAKE_SPEED_REVERSE);