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CrossTheRoadElec / Phoenix-Releases

Release repository for Phoenix-Framework and Phoenix-Tuner
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Swerve: ChassisSpeeds are not desaturated #72

Open TheTripleV opened 5 months ago

TheTripleV commented 5 months ago

forward from: https://discord.com/channels/176186766946992128/368993897495527424/1199545720399740928

Within the SwerveRequest interface, in 4 of the Swerve Requests, toSwerveModuleStates is called but desaturateWheelSpeeds is not called afterwards. toSwerveModuleStates does not automatically call desaturateWheelSpeeds according to the docs.

Should these SwerveRequests be calling desaturateWheelSpeeds?