From 52e2acc3fa9a44e4633303808eccc3d2cc04db0b Mon Sep 17 00:00:00 2001
From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com>
Date: Mon, 25 Mar 2024 11:38:02 -0500
Subject: [PATCH] Update SwerveModule.java

---
 src/main/java/swervelib/SwerveModule.java | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
index c7dd56c1..60a3a5c1 100644
--- 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);
   }
 }