Merge branch 'master' of https://github.com/DeepBlueRobotics/lib199

CoolSpy3 · CoolSpy3 · commit 2a10ad8b2e1b · 2022-02-06T12:06:08.000-08:00
diff --git a/src/main/java/frc/robot/lib/SwerveModule.java b/src/main/java/frc/robot/lib/SwerveModule.java
@@ -270,16 +270,18 @@ public void updateSmartDashboard() {
     }
     
     public void toggleMode() {
-        if (drive.getIdleMode() == IdleMode.kBrake) coast();
+        if (drive.getIdleMode() == IdleMode.kBrake && turn.getIdleMode() == IdleMode.kCoast) coast();
         else brake();
     }
 
     public void brake() {
         drive.setIdleMode(IdleMode.kBrake);
+        turn.setIdleMode(IdleMode.kBrake);
     }
 
     public void coast() {
         drive.setIdleMode(IdleMode.kCoast);
+        turn.setIdleMode(IdleMode.kCoast);
     }
 
     public void setMaxTurnVelocity(double maxVel) {

Original file line number	Diff line number	Diff line change
`@@ -270,16 +270,18 @@ public void updateSmartDashboard() {`
`270`	`270`	`}`
`271`	`271`
`272`	`272`	`public void toggleMode() {`
`273`		`- if (drive.getIdleMode() == IdleMode.kBrake) coast();`
	`273`	`+ if (drive.getIdleMode() == IdleMode.kBrake && turn.getIdleMode() == IdleMode.kCoast) coast();`
`274`	`274`	`else brake();`
`275`	`275`	`}`
`276`	`276`
`277`	`277`	`public void brake() {`
`278`	`278`	`drive.setIdleMode(IdleMode.kBrake);`
	`279`	`+ turn.setIdleMode(IdleMode.kBrake);`
`279`	`280`	`}`
`280`	`281`
`281`	`282`	`public void coast() {`
`282`	`283`	`drive.setIdleMode(IdleMode.kCoast);`
	`284`	`+ turn.setIdleMode(IdleMode.kCoast);`
`283`	`285`	`}`
`284`	`286`
`285`	`287`	`public void setMaxTurnVelocity(double maxVel) {`