From 587586a585a9351f6fdd6b548332c9298c6c6191 Mon Sep 17 00:00:00 2001
From: Robert Atkinson <bob@theatkinsons.org>
Date: Sat, 28 Nov 2015 21:37:02 -0800
Subject: [PATCH] fix RESET_ENCODERs awating bug

Former-commit-id: 13c173bca0872052fcf438cd434d84f548e54631
Former-commit-id: ebcda1838c690e9fa53d14d9ced6eb285a38e48c
---
 .../library/internal/EasyModernMotorController.java           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernMotorController.java b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernMotorController.java
index bb2feadab57..e9ee69da6b1 100644
--- a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernMotorController.java
+++ b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernMotorController.java
@@ -314,8 +314,8 @@ private void deusurpDevices()
         // to the USB device actually happen when we issue them.
         if (mode == RunMode.RESET_ENCODERS)
             {
-            // Unclear if this is needed
-            while (this.getMotorTargetPosition(motor) != 0)
+            // Unclear if this is needed, but anecdotes from (e.g.) Dryw seem to indicate that it is
+            while (this.getMotorCurrentPosition(motor) != 0)
                 {
                 waitForNextReadComplete();
                 }