FINALLY FIXED SWERVE

2026-01-31 17:03:35 -05:00
parent 95108b7da7
commit 66049f1357
3 changed files with 23 additions and 17 deletions
--- a/src/main/java/frc/robot/constants/ModuleConstants.java
+++ b/src/main/java/frc/robot/constants/ModuleConstants.java
@@ -90,7 +90,8 @@ public class ModuleConstants {

        turningConfig
            .idleMode(kTurnIdleMode)
-            .smartCurrentLimit(kTurnMotorCurrentLimit);
+            .smartCurrentLimit(kTurnMotorCurrentLimit)
+            .inverted(true);
        turningConfig.encoder
            //.inverted(true)
            .positionConversionFactor(kTurningFactor)
@@ -101,5 +102,6 @@ public class ModuleConstants {
            .outputRange(-1, 1)
            .positionWrappingEnabled(true)
            .positionWrappingInputRange(0, 2 * Math.PI);
+            
    }
 }