Removed asynchronous CAN messages to SparkMAX's

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Dec 20, 2023 · feb53de · feb53de
1 parent d12ea36
commit feb53de
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
@@ -88,8 +88,8 @@ public SparkMaxBrushedMotorSwerve(CANSparkMax motor, boolean isDriveMotor, Type
       // Configure feedback of the PID controller as the integrated encoder.
       configureSparkMax(() -> pid.setFeedbackDevice(encoder));
     }
-
-    configureSparkMax(() -> motor.setCANTimeout(0)); // Spin off configurations in a different thread.
+    // Spin off configurations in a different thread.
+    // configureSparkMax(() -> motor.setCANTimeout(0)); // Commented it out because it prevents feedback.
   }
 
   /**

diff --git a/src/main/java/swervelib/motors/SparkMaxSwerve.java b/src/main/java/swervelib/motors/SparkMaxSwerve.java
@@ -62,7 +62,7 @@ public SparkMaxSwerve(CANSparkMax motor, boolean isDriveMotor)
         encoder); // Configure feedback of the PID controller as the integrated encoder.
 
     // Spin off configurations in a different thread.
-    configureSparkMax(() -> motor.setCANTimeout(0));
+    // configureSparkMax(() -> motor.setCANTimeout(0)); // Commented out because it prevents feedback.
   }
 
   /**