From 93d91aab0c4e9c3d2508c30f635cc3f74893c09f Mon Sep 17 00:00:00 2001
From: Technologyman00 <collinost@gmail.com>
Date: Wed, 17 Jan 2024 20:55:05 -0600
Subject: [PATCH] Fixed getDriveBaseRadiusMeters() as it incorrectly assumed
 there will always be 4 modules.

Previously assumed there would be 4 modules now allows for any amount greater than 2.
---
 .../parser/SwerveDriveConfiguration.java          | 15 +++++----------
 1 file changed, 5 insertions(+), 10 deletions(-)

diff --git a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
index 3e416783..6309e680 100644
--- a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
+++ b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
@@ -89,19 +89,14 @@ public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves, SimpleM
    */
   public double getDriveBaseRadiusMeters()
   {
-    //Find Center of Robot by adding all module offsets together. Should be zero, but incase it isn't
-    Translation2d centerOfModules = moduleLocationsMeters[0].plus(moduleLocationsMeters[1])
-                                    .plus(moduleLocationsMeters[2]).plus(moduleLocationsMeters[3]);
+    Translation2d centerOfModules = moduleLocationsMeters[0];
 
-    //Find Largest Radius by checking the distance to the center point 
-    double largestRadius = centerOfModules.getDistance(moduleLocationsMeters[0]);     
+    //Calculate the Center by adding all module offsets together.
     for(int i=1; i<moduleLocationsMeters.length; i++){
-      if(largestRadius < centerOfModules.getDistance(moduleLocationsMeters[i])){
-        largestRadius = centerOfModules.getDistance(moduleLocationsMeters[i]);
-      }
-    }          
+      centerOfModules = centerOfModules.plus(moduleLocationsMeters[i]);
+    }  
     
     //Return Largest Radius
-    return largestRadius;
+    return centerOfModules.getDistance(moduleLocationsMeters[0]);
   }
 }