made feedback variable in SwerveModuleIOSim 🤩

team4099 · Jul 4, 2024 · 404417c · 404417c
1 parent ccef242
commit 404417c
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diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe
diff --git a/...ain/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOSim.kt b/...ain/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOSim.kt
@@ -214,8 +214,9 @@ class SwerveModuleIOSim(override val label: String) : SwerveModuleIO {
   ) {
     Logger.recordOutput("$label/desiredDriveSpeedMPS", speed.inMetersPerSecond)
     val feedforward = driveFeedForward.calculate(speed, acceleration)
+    val feedback = driveFeedback.calculate(driveVelocity, speed)
 
-    setDriveVoltage(feedforward + driveFeedback.calculate(driveVelocity, speed))
+    setDriveVoltage(feedforward + feedback)
     setSteeringSetpoint(steering)
   }