From bf5bf601d041315baeec8ba75cafd26c95f3c983 Mon Sep 17 00:00:00 2001
From: 00magikarp <94652654+00magikarp@users.noreply.github.com>
Date: Fri, 5 Jul 2024 12:25:35 -0400
Subject: [PATCH] new method of obtaining applied voltage in
 SwerveModuleIOTalon

---
 .../drivetrain/swervemodule/SwerveModuleIOTalon.kt          | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt
index 5cb98b8a..90de7373 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt
@@ -212,8 +212,10 @@ class SwerveModuleIOTalon(
   override fun updateInputs(inputs: SwerveModuleIO.SwerveModuleIOInputs) {
     updateSignals()
 
-    inputs.driveAppliedVoltage = (driveFalcon.get() * RobotController.getBatteryVoltage()).volts
-    inputs.steerAppliedVoltage = (steeringFalcon.get() * RobotController.getBatteryVoltage()).volts
+    inputs.driveAppliedVoltage = driveFalcon.motorVoltage.value.volts
+    inputs.steerAppliedVoltage = steeringFalcon.motorVoltage.value.volts
+    //inputs.driveAppliedVoltage = (driveFalcon.get() * RobotController.getBatteryVoltage()).volts
+    //inputs.steerAppliedVoltage = (steeringFalcon.get() * RobotController.getBatteryVoltage()).volts
 
     inputs.statorCurrentDrive = driveStatorCurrentSignal.value.amps
     inputs.supplyCurrentDrive = driveSupplyCurrentSignal.value.amps