Now that the Kraken firmware has had some improvements (especially related to battery & current limits), let's try out open loop driving for teleop again.
In SwerveSubsystem#driveTeleopCommand(), change the closed loop boolean in setFieldRelativeSpeeds() to be false. See how driving works, if it's drawing more/less battery, etc.
Maybe tweak current limits as needed, but probably we'll discuss if that's necessary.
Now that the Kraken firmware has had some improvements (especially related to battery & current limits), let's try out open loop driving for teleop again.
In
SwerveSubsystem#driveTeleopCommand(), change the closed loop boolean insetFieldRelativeSpeeds()to befalse. See how driving works, if it's drawing more/less battery, etc.Maybe tweak current limits as needed, but probably we'll discuss if that's necessary.