fix: stop resetting rate limiters on init (smoother transition betwee…

…n targeting and normal)
flamingchickens1540 · Feb 10, 2024 · 46b3631 · 46b3631
1 parent 198e561
commit 46b3631
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diff --git a/src/main/java/org/team1540/robot2024/commands/DriveWithSpeakerTargetingCommand.java b/src/main/java/org/team1540/robot2024/commands/DriveWithSpeakerTargetingCommand.java
@@ -36,8 +36,6 @@ public DriveWithSpeakerTargetingCommand(Drivetrain drivetrain, CommandXboxContro
 
     @Override
     public void initialize() {
-        xLimiter.reset(0);
-        yLimiter.reset(0);
         rotController.reset();
     }
 

diff --git a/src/main/java/org/team1540/robot2024/commands/SwerveDriveCommand.java b/src/main/java/org/team1540/robot2024/commands/SwerveDriveCommand.java
@@ -21,14 +21,6 @@ public SwerveDriveCommand(Drivetrain drivetrain, CommandXboxController controlle
         addRequirements(drivetrain);
     }
 
-    @Override
-    public void initialize() {
-        xLimiter.reset(0);
-        yLimiter.reset(0);
-        rotLimiter.reset(0);
-
-    }
-
     @Override
     public void execute() {
         boolean isFlipped =