PPSwerveControllerCommand error - functional interface

I’m not sure what we’re doing wrong, but PPSwerveControllerCommand is telling us something is wrong with setModuleStates:

“The target type of this expression must be a functional interface”

Can someone take a look at the Swerve code and let me know what we’re doing wrong. Thank you.

Repo: https://github.com/team6637/FRC2023/blob/main/src/main/java/frc/robot/commands/AutonOneCommand.java

The theta controller (autonZController) should be a PIDController instead of a ProfiledPIDController, since PathPlanner paths already generate rotation setpoints with constraints.

2 Likes

That did it. Thank you for taking the time to help. I spent 5 hours of stress on that. Thank you!

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