Swap Spark MAX drive implementation to always use absolute analog enc…

…oder
Mechanical-Advantage · Feb 10, 2024 · efb0c37 · efb0c37
1 parent 898351a
commit efb0c37
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOSparkMax.java
@@ -94,7 +94,8 @@ public ModuleIOSparkMax(ModuleConfig config) {
         drivePositionQueue =
                 SparkMaxOdometryThread.getInstance().registerSignal(driveEncoder::getPosition);
         turnPositionQueue =
-                SparkMaxOdometryThread.getInstance().registerSignal(absoluteEncoderValue.get()::getRadians);
+                SparkMaxOdometryThread.getInstance()
+                        .registerSignal(() -> absoluteEncoderValue.get().getRadians());
 
         // Init Controllers
         driveController = new PIDController(moduleConstants.drivekP(), 0.0, moduleConstants.drivekD());