From 01b7e1b878314e94c2269351c93ee59ec1f3c2f7 Mon Sep 17 00:00:00 2001 From: Bradley Bickford Date: Sun, 15 Feb 2026 14:51:54 -0500 Subject: [PATCH] Removing an unnecessary todo --- src/main/java/frc/robot/utilities/SwerveModule.java | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/utilities/SwerveModule.java b/src/main/java/frc/robot/utilities/SwerveModule.java index 0ca2929..324cf85 100644 --- a/src/main/java/frc/robot/utilities/SwerveModule.java +++ b/src/main/java/frc/robot/utilities/SwerveModule.java @@ -181,9 +181,7 @@ public class SwerveModule { public void setDesiredState(SwerveModuleState desiredState) { lastTargetState = new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle); - // TODO is this really necessary, the offset is managed by the Absolute Encoder - // and its "source of truth" behavior in relation to the relative encoder - // Probably doesn't *hurt* that it's here, but it may not be needed + desiredState.optimize(new Rotation2d(getTurningEncoderPosition())); lastTargetStateOptimized = desiredState;