From 6e92f6442f73af626ae7459cb5479f731f0ea724 Mon Sep 17 00:00:00 2001
From: Jonah <47046556+jwbonner@users.noreply.github.com>
Date: Wed, 25 Dec 2024 21:01:29 -0500
Subject: [PATCH] Add note about `RotorToSensorRatio` for custom TalonFX module
 implementation

---
 .../template-projects/talonfx-swerve-template.md          | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/docs/docs/getting-started/template-projects/talonfx-swerve-template.md b/docs/docs/getting-started/template-projects/talonfx-swerve-template.md
index bb76f66a..1cdcfde4 100644
--- a/docs/docs/getting-started/template-projects/talonfx-swerve-template.md
+++ b/docs/docs/getting-started/template-projects/talonfx-swerve-template.md
@@ -286,7 +286,13 @@ By default, the project uses a CANcoder in remote/fused/sync mode. When using an
 turnConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RotorSensor;
 ```
 
-3. Reset the relative encoder position at startup:
+3. Replace `RotorToSensorRatio` with `SensorToMechanismRatio` as shown below:
+
+```java
+turnConfig.Feedback.SensorToMechanismRatio = constants.SteerMotorGearRatio;
+```
+
+4. Reset the relative encoder position at startup:
 
 ```java
 tryUntilOk(5, () -> turnTalon.setPosition(customEncoder.getPositionRotations(), 0.25));