Update SwerveModule.java

BroncBotz3481 · Mar 25, 2024 · 52e2acc · 52e2acc
1 parent 6ae0369
commit 52e2acc
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
@@ -74,6 +74,10 @@ public class SwerveModule
    * NT3 Raw drive motor.
    */
   private final String                 rawDriveName;
+  /**
+   * NT3 Raw drive motor.
+   */
+  private final String                 rawDriveVelName;
   /**
    * Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
    */
@@ -207,6 +211,7 @@ public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfigurat
     absoluteEncoderIssueName = "Module[" + configuration.name + "] Absolute Encoder Read Issue";
     rawAngleName = "Module[" + configuration.name + "] Raw Angle Encoder";
     rawDriveName = "Module[" + configuration.name + "] Raw Drive Encoder";
+    rawDriveVelName = "Module[" + configuration.name + "] Raw Drive Velocity";
   }
 
   /**
@@ -633,7 +638,7 @@ public void updateTelemetry()
     }
     SmartDashboard.putNumber(rawAngleName, angleMotor.getPosition());
     SmartDashboard.putNumber(rawDriveName, driveMotor.getPosition());
-    SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
+    SmartDashboard.putNumber(rawDriveVelName, driveMotor.getVelocity()); SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
     SmartDashboard.putNumber(absoluteEncoderIssueName, getAbsoluteEncoderReadIssue() ? 1 : 0);
   }
 }