Add safety to ensure feedforward is never used when forcing module to…

… positions. Signed-off-by: thenetworkgrinch <[email protected]>
GeraldTM · Mar 29, 2023 · ed14c16 · ed14c16
1 parent 155476e
commit ed14c16
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
@@ -174,6 +174,9 @@ public void setDesiredState(SwerveModuleState2 desiredState, boolean isOpenLoop,
     {
       // Prevents module rotation if speed is less than 1%
       SwerveMath.antiJitter(desiredState, lastState, configuration.maxSpeed);
+    } else
+    {
+      desiredState.omegaRadPerSecond = 0;
     }
 
     if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)