Team_2648/2026-Robot-Code
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Removing an unnecessary todo

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This commit is contained in:
Bradley Bickford
2026-02-15 14:51:54 -05:00
parent 701fbfc43e
commit 01b7e1b878
1 changed files with 1 additions and 3 deletions
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4
src/main/java/frc/robot/utilities/SwerveModule.java
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@@ -181,9 +181,7 @@ public class SwerveModule {
public void setDesiredState(SwerveModuleState desiredState) { public void setDesiredState(SwerveModuleState desiredState) {
lastTargetState = new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle); 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())); desiredState.optimize(new Rotation2d(getTurningEncoderPosition()));
lastTargetStateOptimized = desiredState; lastTargetStateOptimized = desiredState;