From 9a9b74ab0688f919f9faf29ee788efcf1c9d6f12 Mon Sep 17 00:00:00 2001
From: Mason-Lam <97353903+Mason-Lam@users.noreply.github.com>
Date: Sat, 16 Sep 2023 11:26:10 -0700
Subject: [PATCH] Fix Driving Direction

---
 src/main/java/frc/team3128/Constants.java                     | 2 +-
 src/main/java/frc/team3128/common/swerveNeo/SwerveModule.java | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/team3128/Constants.java b/src/main/java/frc/team3128/Constants.java
index e736655..9a02b8b 100644
--- a/src/main/java/frc/team3128/Constants.java
+++ b/src/main/java/frc/team3128/Constants.java
@@ -234,7 +234,7 @@ public static class SwerveConstants {
         public static final TrapezoidProfile.Constraints CONSTRAINTS = new TrapezoidProfile.Constraints(maxSpeed, maxAcceleration);
 
         /* Motor Inverts */
-        public static final boolean driveMotorInvert = false;
+        public static final boolean driveMotorInvert = true;
         public static final boolean angleMotorInvert = true;
 
         /* Angle Encoder Invert */
diff --git a/src/main/java/frc/team3128/common/swerveNeo/SwerveModule.java b/src/main/java/frc/team3128/common/swerveNeo/SwerveModule.java
index 6e3b112..914b4c7 100644
--- a/src/main/java/frc/team3128/common/swerveNeo/SwerveModule.java
+++ b/src/main/java/frc/team3128/common/swerveNeo/SwerveModule.java
@@ -66,6 +66,7 @@ private void configAngleMotor(){
         angleMotor.setInverted(angleMotorInvert);
         angleMotor.setIdleMode(IdleMode.kCoast);
         angleMotor.enableContinuousInput(-180, 180, degreesToRotations(1, angleGearRatio));
+        angleMotor.setDefaultStatusFrames();
         resetToAbsolute();
     }
 
@@ -77,6 +78,7 @@ private void configDriveMotor(){
         driveMotor.setInverted(driveMotorInvert);
         driveMotor.setIdleMode(IdleMode.kCoast); 
         driveMotor.setSelectedSensorPosition(0);
+        driveMotor.setDefaultStatusFrames();
     }
 
     /**