target 0mps on turn completion

CoolSpy3 · CoolSpy3 · commit 53e824d8df9c · 2022-02-12T11:51:35.000-08:00
diff --git a/src/main/java/frc/robot/lib/SwerveModule.java b/src/main/java/frc/robot/lib/SwerveModule.java
@@ -222,7 +222,7 @@ private void setAngle(double angle) {
         double angleDiff = MathUtil.inputModulus(angle - lastAngle, -180, 180);
         SmartDashboard.putNumber(moduleString + " angleDiff (deg)", angleDiff);
 
-        turnPIDController.setGoal(new TrapezoidProfile.State(angle * (reversed ? -1 : 1), angleDiff * (reversed ? -1 : 1) / deltaTime));
+        turnPIDController.setGoal(new TrapezoidProfile.State(angle * (reversed ? -1 : 1), 0));
         lastAngle = angle;
     }
 

Original file line number	Diff line number	Diff line change
`@@ -222,7 +222,7 @@ private void setAngle(double angle) {`
`222`	`222`	`double angleDiff = MathUtil.inputModulus(angle - lastAngle, -180, 180);`
`223`	`223`	`SmartDashboard.putNumber(moduleString + " angleDiff (deg)", angleDiff);`
`224`	`224`
`225`		`- turnPIDController.setGoal(new TrapezoidProfile.State(angle * (reversed ? -1 : 1), angleDiff * (reversed ? -1 : 1) / deltaTime));`
	`225`	`+ turnPIDController.setGoal(new TrapezoidProfile.State(angle * (reversed ? -1 : 1), 0));`
`226`	`226`	`lastAngle = angle;`
`227`	`227`	`}`
`228`	`228`