From 8eb0a76b2646235f173cd524fbf7462256ab1696 Mon Sep 17 00:00:00 2001
From: Tyler Wilcox <tyler@wilcoxflp.com>
Date: Mon, 23 Mar 2026 21:58:45 -0400
Subject: [PATCH] Maybe fix swerve odemetry

---
 .../frc/robolib/drivesystems/swerve/SwerveDriveSystem.java     | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSystem.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSystem.java
index ed5b1f9..e87e988 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSystem.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSystem.java
@@ -84,7 +84,8 @@ public class SwerveDriveSystem implements Subsystem{
             moduleStates[i].optimize(modules[i].getSteerRotations());
         }
 
-        poseEstimator.updateWithTime(Utils.getCurrentTimeSeconds(), new Rotation3d(Rotation2d.fromRotations(getCurrentYaw().magnitude())), getModulePositions());
+        poseEstimator.update(new Rotation3d(Rotation2d.fromRotations(getCurrentYaw().magnitude())), getModulePositions());
+        // poseEstimator.updateWithTime(Utils.getCurrentTimeSeconds(), new Rotation3d(Rotation2d.fromRotations(getCurrentYaw().magnitude())), getModulePositions());
 
         for(int i=0;i<modules.length;i++){
             modules[i].setRequestedModuleState(moduleStates[i]);