add continuous wrap to simulated swerve

FRC3476 · Apr 8, 2024 · 07871ea · 07871ea
1 parent ac10279
commit 07871ea
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIOSim.java b/src/main/java/org/codeorange/frc2024/subsystem/drive/ModuleIOSim.java
@@ -15,6 +15,9 @@ public class ModuleIOSim implements ModuleIO {
     private final PIDController driveController = new PIDController(SWERVE_DRIVE_GAINS.kP(), SWERVE_DRIVE_GAINS.kI(), SWERVE_DRIVE_GAINS.kD());
     private final SimpleMotorFeedforward driveFeedforward = new SimpleMotorFeedforward(SWERVE_DRIVE_GAINS.kS(), SWERVE_DRIVE_GAINS.kV(), SWERVE_DRIVE_GAINS.kA());
     private final PIDController steerController = new PIDController(SWERVE_STEER_GAINS.kP(), SWERVE_STEER_GAINS.kI(), SWERVE_STEER_GAINS.kD());
+    {
+        steerController.enableContinuousInput(-0.5, 0.5);
+    }
 
     private final BetterDCMotorSim driveSim =
             new BetterDCMotorSim(