From 4271af09ac0b32e701debdb22c9663bbee18846b Mon Sep 17 00:00:00 2001
From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com>
Date: Fri, 14 Jun 2024 10:55:01 -0500
Subject: [PATCH] Attempt to fix vendordep crashing.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
---
 src/main/java/swervelib/SwerveDrive.java               |  3 ++-
 src/main/java/swervelib/SwerveModule.java              |  2 +-
 .../swervelib/parser/SwerveDriveConfiguration.java     | 10 +++++-----
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
index 9f45b916..1bd7b0b4 100644
--- a/src/main/java/swervelib/SwerveDrive.java
+++ b/src/main/java/swervelib/SwerveDrive.java
@@ -666,7 +666,8 @@ public ChassisSpeeds getRobotVelocity()
   public void resetOdometry(Pose2d pose)
   {
     odometryLock.lock();
-    swerveDrivePoseEstimator.resetPosition(getYaw(), getModulePositions(), pose);
+    SwerveModulePosition[] positions = getModulePositions();
+    swerveDrivePoseEstimator.resetPosition(getYaw(), positions, pose);
     odometryLock.unlock();
     kinematics.toSwerveModuleStates(ChassisSpeeds.fromFieldRelativeSpeeds(0, 0, 0, getYaw()));
   }
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
index 1e941790..2e04383d 100644
--- a/src/main/java/swervelib/SwerveModule.java
+++ b/src/main/java/swervelib/SwerveModule.java
@@ -81,7 +81,7 @@ public class SwerveModule
   /**
    * Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
    */
-  public        int                    moduleNumber;
+  public final  int                    moduleNumber;
   /**
    * Maximum speed of the drive motors in meters per second.
    */
diff --git a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
index e5434de2..d3bcf0c1 100644
--- a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
+++ b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
@@ -14,23 +14,23 @@ public class SwerveDriveConfiguration
   /**
    * Swerve Module locations.
    */
-  public Translation2d[]                     moduleLocationsMeters;
+  public       Translation2d[]                     moduleLocationsMeters;
   /**
    * Swerve IMU
    */
-  public SwerveIMU                           imu;
+  public       SwerveIMU                           imu;
   /**
    * Number of modules on the robot.
    */
-  public int                                 moduleCount;
+  public final int                                 moduleCount;
   /**
    * Swerve Modules.
    */
-  public SwerveModule[]                      modules;
+  public       SwerveModule[]                      modules;
   /**
    * Physical characteristics of the swerve drive from physicalproperties.json.
    */
-  public SwerveModulePhysicalCharacteristics physicalCharacteristics;
+  public       SwerveModulePhysicalCharacteristics physicalCharacteristics;
 
   /**
    * Create swerve drive configuration.