From 903c997ca6decc88babc3af4fd68c3df5da09b4e Mon Sep 17 00:00:00 2001
From: Zynh Ludwig <Zynh0722@gmail.com>
Date: Thu, 28 Mar 2024 02:51:52 -0700
Subject: [PATCH] moving the speed encoder

---
 src/main/cpp/cowlib/SwerveModule.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/cpp/cowlib/SwerveModule.cpp b/src/main/cpp/cowlib/SwerveModule.cpp
index 5171130..1aa819a 100644
--- a/src/main/cpp/cowlib/SwerveModule.cpp
+++ b/src/main/cpp/cowlib/SwerveModule.cpp
@@ -31,12 +31,12 @@ SwerveModule::SwerveModule(int driveMotorId, int steerMotorId, int encoderId,
   this->driveMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
   this->steerMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
 
-  auto speedEncoder = this->driveMotor.GetEncoder();
   double driveReduction = 1.0 / 6.75;
   double wheelDiameter = 0.1016;
   double rotationsToDistance =
       driveReduction * wheelDiameter * units::constants::detail::PI_VAL;
 
+  auto speedEncoder = this->driveMotor.GetEncoder();
   speedEncoder.SetPositionConversionFactor(rotationsToDistance);
   speedEncoder.SetVelocityConversionFactor(rotationsToDistance / 60);
 }