2024-02-21 18:26:29 -05:00
parent 41cf87c97c
commit 1b670b9685
2 changed files with 1 additions and 5 deletions
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -78,7 +78,7 @@ public class Lanceur extends SubsystemBase {
                log.motor("shooter-wheel")
                    .voltage(
                        appliedVoltage.mut_replace(
-                            lanceur4.get() * RobotController.getBatteryVoltage(), Volts))
+                            lanceur4.getAppliedOutput() * lanceur4.getBusVoltage(), Volts))
                    .angularPosition(angle.mut_replace(lanceur4.getEncoder().getPosition(), Rotations))
                    .angularVelocity(
                        velocity.mut_replace(lanceur4.getEncoder().getVelocity(), RotationsPerSecond));