PIDF scaled.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Jan 18, 2024 · 142ba89 · 142ba89
1 parent c88b568
commit 142ba89
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/src/main/java/swervelib/motors/TalonFXSwerve.java b/src/main/java/swervelib/motors/TalonFXSwerve.java
@@ -240,6 +240,13 @@ public void configureCANStatusFrames(
   @Override
   public void configurePIDF(PIDFConfig config)
   {
+    if(!isDriveMotor)
+    {
+      config.p *= 360;
+      config.i *= 360;
+      config.d *= 360;
+    }
+
     TalonFXConfigurator cfg = motor.getConfigurator();
     cfg.refresh(configuration.Slot0);
     cfg.apply(