commit 5aabf63ea6e1cd15983318ded0771ff420e48620
author Stephan Pleines <pleines.stephan@gmail.com> Wed Mar 13 20:31:18 2024 -0700
committer Stephan Pleines <pleines.stephan@gmail.com> Wed Mar 13 20:31:18 2024 -0700
tree e4f0bd036b62d7cb26bf3f3142596dfbe9d2f793
parent fefe5c0dbcc0c9e05437aeb74ee04741a30056c8

Stop rollers with coast to stop skipping belts.

Change-Id: Ic9a3aa29a16c5f94e6edd9789d9547e4d2e1fb58
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index d286939..8060a69 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -521,6 +521,11 @@
         current_limits->catapult_stator_current_limit(),
         current_limits->catapult_supply_current_limit());
 
+    transfer_roller->set_neutral_mode(
+        ctre::phoenix6::signals::NeutralModeValue::Coast);
+    intake_roller->set_neutral_mode(
+        ctre::phoenix6::signals::NeutralModeValue::Coast);
+
     ctre::phoenix::platform::can::CANComm_SetRxSchedPriority(
         constants::Values::kDrivetrainRxPriority, true, "Drivetrain Bus");
     ctre::phoenix::platform::can::CANComm_SetTxSchedPriority(