Update SwerveModule.java

Frc5572 · Jan 22, 2025 · df69db8 · df69db8
1 parent 9142958
commit df69db8
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModule.java b/src/main/java/frc/lib/util/swerve/SwerveModule.java
@@ -153,7 +153,7 @@ public SwerveModulePosition getPosition() {
         return new SwerveModulePosition(
             Conversions.rotationsToMeters(inputs.driveMotorSelectedPosition.in(Rotations),
                 Constants.Swerve.wheelCircumference),
-            Rotation2d.fromRotations(getCANcoder().getRotations() - angleOffset.getRotations()));
+            Rotation2d.fromRotations(inputs.angleMotorSelectedPosition.in(Rotations)));
     }
 
 }