From 8defb590f40120ea22befb0e0880bcbb2636b502 Mon Sep 17 00:00:00 2001
From: Tyler Wilcox <tyler@wilcoxflp.com>
Date: Fri, 30 Jan 2026 20:04:33 -0500
Subject: [PATCH] Possible Fix for swerve drive

---
 .../frc/robolib/drivesystems/swerve/SwerveModule.java      | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
index 9f1b818..34d6d80 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
@@ -41,7 +41,6 @@ public class SwerveModule {
     private VelocityVoltage driveRequest = new VelocityVoltage(0);
     private TalonFX steerMotor;
     private MotionMagicVoltage steerRequest = new MotionMagicVoltage(0);
-    private PositionVoltage steerPosRequ = new PositionVoltage(0);
     private CANcoder steerEncoder;
 
     private String moduleName;
@@ -152,7 +151,6 @@ public class SwerveModule {
     }
 
     public void periodic(){
-        SmartDashboard.putNumber(moduleName + " steerReq", steerPosRequ.Position);
         SmartDashboard.putNumber(moduleName + " steerPow", steerMotor.getClosedLoopOutput().getValueAsDouble());
         SmartDashboard.putNumber(moduleName + " steer error", steerMotor.getClosedLoopError().getValueAsDouble());
         SmartDashboard.putNumber(moduleName + " steer setpoint", steerMotor.getClosedLoopReference().getValueAsDouble());
@@ -207,6 +205,9 @@ public class SwerveModule {
         ).withClosedLoopGeneral(
             new ClosedLoopGeneralConfigs()
             .withContinuousWrap(true)
+        ).withMotorOutput(
+            new MotorOutputConfigs()
+                .withInverted(InvertedValue.CounterClockwise_Positive)
         );
     }
 
@@ -214,7 +215,7 @@ public class SwerveModule {
         return new CANcoderConfiguration().withMagnetSensor(
             new MagnetSensorConfigs()
                 .withMagnetOffset(-steerOffset)
-                .withSensorDirection(SensorDirectionValue.Clockwise_Positive)
+                .withSensorDirection(SensorDirectionValue.CounterClockwise_Positive)
                 .withAbsoluteSensorDiscontinuityPoint(0.5)
             );
     }