Reverted attainable change.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Jan 15, 2025 · dafe79f · dafe79f
1 parent 3a9dfac
commit dafe79f
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
@@ -335,7 +335,7 @@ public SwerveDrive(
 
     HAL.report(kResourceType_RobotDrive, kRobotDriveSwerve_YAGSL);
     // Defaulting to something reasonable for most robots
-    setMaximumAttainableSpeeds(maxSpeedMPS, 2 * Math.PI);
+    // setMaximumAttainableSpeeds(maxSpeedMPS, 2 * Math.PI);
   }
 
   /**
@@ -664,7 +664,7 @@ public void setMaximumAllowableSpeeds(
    */
   public double getMaximumChassisVelocity()
   {
-    return Math.min(this.attainableMaxTranslationalSpeedMetersPerSecond, maxChassisSpeedMPS);
+    return Math.max(this.attainableMaxTranslationalSpeedMetersPerSecond, maxChassisSpeedMPS);
   }
 
   /**
@@ -695,7 +695,7 @@ public AngularVelocity getMaximumModuleAngleVelocity()
    */
   public double getMaximumChassisAngularVelocity()
   {
-    return Math.min(this.attainableMaxRotationalVelocityRadiansPerSecond, swerveController.config.maxAngularVelocity);
+    return Math.max(this.attainableMaxRotationalVelocityRadiansPerSecond, swerveController.config.maxAngularVelocity);
   }
 
   /**