(Question) How to enable FOC for falcons mk4i?

[Wing57]

What would I have to change it in the code to use the FOC features? For example what would you change the position/velocity voltage methods in SwerveModule.java to? And would you be able to use a fusedcancoder object?

[witherslayer67]

yup

[ninjadrknss]

In the setSpeed function in SwerveModule.java add the lines (CONTROL_LOOP).EnableFOC = true
This is what I did with no errors but I can't tell if it doing anything