Fix slow signal period for REV swerve modules

lasarobotics · Feb 9, 2025 · 8b28e69 · 8b28e69
1 parent 6b4f908
commit 8b28e69
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/java/org/lasarobotics/drive/swerve/parent/REVSwerveModule.java b/src/main/java/org/lasarobotics/drive/swerve/parent/REVSwerveModule.java
@@ -68,8 +68,8 @@ public Hardware(Spark driveMotor, Spark rotateMotor) {
   }
 
   private static final Frequency UPDATE_RATE = Units.Hertz.of(100.0);
-  public static final Time DEFAULT_SIGNAL_PERIOD = Units.Milliseconds.of(10.0);
-  public static final Time SLOW_SIGNAL_PERIOD = Units.Seconds.of(10.0);
+  public static final Time DEFAULT_SIGNAL_PERIOD = UPDATE_RATE.asPeriod();
+  public static final Time SLOW_SIGNAL_PERIOD = Units.Seconds.one();
   public static final double DRIVETRAIN_EFFICIENCY = 0.90;
 
   private final double EPSILON = 5e-3;