Merge pull request #121 from BrysonSmith15/swerve_example_position

Changed the swervemodule getPosition function to use encoder distance
robotpy · Dec 4, 2024 · 4b55fef · 4b55fef
2 parents 4ca730a + cc72334
commit 4b55fef
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/SwerveBot/swervemodule.py b/SwerveBot/swervemodule.py
@@ -94,7 +94,7 @@ def getPosition(self) -> wpimath.kinematics.SwerveModulePosition:
         :returns: The current position of the module.
         """
         return wpimath.kinematics.SwerveModulePosition(
-            self.driveEncoder.getRate(),
+            self.driveEncoder.getDistance(),
             wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),
         )