Patched data being sent to swerve modules to match the state that was…

… passed to the motor controllers. Signed-off-by: thenetworkgrinch <[email protected]>
GeraldTM · Mar 27, 2023 · 764a8c1 · 764a8c1
1 parent e8cdd0d
commit 764a8c1
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
@@ -272,18 +272,18 @@ private void setRawModuleStates(SwerveModuleState2[] desiredStates, boolean isOp
       if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
       {
         SwerveDriveTelemetry.desiredStates[module.moduleNumber *
-                                           2] = desiredStates[module.moduleNumber].angle.getDegrees();
+                                           2] = module.lastState.angle.getDegrees();
         SwerveDriveTelemetry.desiredStates[(module.moduleNumber * 2) +
-                                           1] = desiredStates[module.moduleNumber].speedMetersPerSecond;
+                                           1] = module.lastState.speedMetersPerSecond;
       }
       if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
       {
         SmartDashboard.putNumber(
-            "Module " + module.moduleNumber + " Speed Setpoint: ",
-            desiredStates[module.moduleNumber].speedMetersPerSecond);
+            "Module[" + module.moduleNumber + "] Speed Setpoint: ",
+            module.lastState.speedMetersPerSecond);
         SmartDashboard.putNumber(
-            "Module " + module.moduleNumber + " Angle Setpoint: ",
-            desiredStates[module.moduleNumber].angle.getDegrees());
+            "Module[" + module.moduleNumber + "] Angle Setpoint: ",
+            module.lastState.angle.getDegrees());
       }
     }
   }

diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
@@ -47,7 +47,7 @@ public class SwerveModule
   /**
    * Last swerve module state applied.
    */
-  private       SwerveModuleState2     lastState;
+  public        SwerveModuleState2     lastState;
   /**
    * Simulated swerve module.
    */