From 604e9e7cc50187f8233916384f4a5c1640f0fdc9 Mon Sep 17 00:00:00 2001
From: Tyler Wilcox <tyler@tywilly.com>
Date: Sat, 24 Jan 2026 16:31:14 -0500
Subject: [PATCH] Not working...

---
 .../DriveSystems/SwerveDrive/SwerveDriveSubsystem.java        | 4 ++++
 .../frc/robolib/DriveSystems/SwerveDrive/SwerveModule.java    | 3 ++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveDriveSubsystem.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveDriveSubsystem.java
index 82b7c97..aa7bbd5 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveDriveSubsystem.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveDriveSubsystem.java
@@ -64,6 +64,10 @@ public class SwerveDriveSubsystem extends SubsystemBase{
         return Arrays.stream(modules).map((SwerveModule m) -> m.getModuleLocation()).toArray(Translation2d[]::new);
     }
 
+    public SwerveModuleState[] getModuleStates(){
+        return Arrays.stream(modules).map((SwerveModule m) -> m.getModuleState()).toArray(SwerveModuleState[]::new);
+    }
+
     public Angle getCurrentYaw(){
         return gyro.getYaw().refresh().getValue();
     }
diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveModule.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveModule.java
index 6a95ec6..3f9ec49 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveModule.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveModule.java
@@ -86,7 +86,7 @@ public class SwerveModule {
 
     public void setDriveSpeed(double speed){
         double rotorVelocity = ((Math.PI * wheelDiameterInMeters) / speed) * gearRatio;
-        driveMotor.setControl(driveRequest.withSlot(0).withVelocity(rotorVelocity));
+        //driveMotor.setControl(driveRequest.withSlot(0).withVelocity(rotorVelocity));
     }
 
     public double getDriveSpeed(){
@@ -100,6 +100,7 @@ public class SwerveModule {
     public void setModuleState(SwerveModuleState state){
         this.setSteerRotations(state.angle.getRotations());
         this.setDriveSpeed(state.speedMetersPerSecond);
+        moduleState = state;
     }
 
     public SwerveModuleState getModuleState(){