From ad53b44e2fb4c06b72ff2546b30e37446ac2fb8d Mon Sep 17 00:00:00 2001
From: Tyler Wilcox <tyler@wilcoxflp.com>
Date: Sun, 22 Mar 2026 21:14:12 -0400
Subject: [PATCH] Exposing more swerve drive members

---
 .../robolib/drivesystems/swerve/SwerveDriveSystem.java   | 9 +++++++++
 1 file changed, 9 insertions(+)

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 784ab43..ed5b1f9 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
@@ -6,6 +6,7 @@ import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.hardware.Pigeon2;
 
+import edu.wpi.first.math.estimator.PoseEstimator;
 import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator3d;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
@@ -223,6 +224,14 @@ public class SwerveDriveSystem implements Subsystem{
         poseEstimator.resetPose(pose);
     }
 
+    /**
+     * Get the pose estimator instance
+     * @return pose estimator instance
+     */
+    public SwerveDrivePoseEstimator3d getPoseEstimator(){
+        return poseEstimator;
+    }
+
     /**
      * Set pose estimation to a specific pose
      * @param pose The new pose as a Pose2d