Fix cpp implementation

mjansen4857 · Feb 6, 2025 · 6d2a646 · 6d2a646
1 parent 3dbee70
commit 6d2a646
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
@@ -420,7 +420,7 @@ void PathPlannerTrajectory::forwardAccelPass(
 		auto accelStates = config.toSwerveModuleStates(chassisAccel);
 		for (size_t m = 0; m < config.numModules; m++) {
 			units::meters_per_second_squared_t moduleAcceleration {
-					units::math::abs(accelStates[m].speed()) };
+					units::math::abs(accelStates[m].speed)() };
 
 			// Calculate the module velocity at the current state
 			// vf^2 = v0^2 + 2ad
@@ -580,7 +580,7 @@ void PathPlannerTrajectory::reverseAccelPass(
 		auto accelStates = config.toSwerveModuleStates(chassisAccel);
 		for (size_t m = 0; m < config.numModules; m++) {
 			units::meters_per_second_squared_t moduleAcceleration {
-					units::math::abs(accelStates[m].speed()) };
+					units::math::abs(accelStates[m].speed)() };
 
 			// Calculate the module velocity at the current state
 			// vf^2 = v0^2 + 2ad