Reverted changes.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Jun 14, 2024 · ed02ee7 · ed02ee7
1 parent 4271af0
commit ed02ee7
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
@@ -666,8 +666,7 @@ public ChassisSpeeds getRobotVelocity()
   public void resetOdometry(Pose2d pose)
   {
     odometryLock.lock();
-    SwerveModulePosition[] positions = getModulePositions();
-    swerveDrivePoseEstimator.resetPosition(getYaw(), positions, pose);
+    swerveDrivePoseEstimator.resetPosition(getYaw(), getModulePositions(), pose);
     odometryLock.unlock();
     kinematics.toSwerveModuleStates(ChassisSpeeds.fromFieldRelativeSpeeds(0, 0, 0, getYaw()));
   }