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published version v0.2.3 with bugfix
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@catr1xLiu
catr1xLiu committed Dec 6, 2024
1 parent 12f147a commit 1a837f7
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<version>0.2.2</version>
<version>0.2.3</version>
</versions>
<lastUpdated>20241205122137</lastUpdated>
<lastUpdated>20241206050141</lastUpdated>
</versioning>
</metadata>
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Expand Up @@ -504,9 +504,7 @@ private double getDriveWheelTorque() {
getDriveEncoderUnGearedPosition(),
getDriveEncoderUnGearedSpeed());

driveMotorAppliedVoltage = Volts.of(MathUtil.clamp(
driveMotorAppliedVoltage.in(Volts),
-12, 12));
driveMotorAppliedVoltage = Volts.of(MathUtil.clamp(driveMotorAppliedVoltage.in(Volts), -12, 12));

driveMotorAppliedVoltage = Volts.of(
MathUtil.applyDeadband(driveMotorAppliedVoltage.in(Volts), DRIVE_FRICTION_VOLTAGE.in(Volts), 12));
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