Merge branch 'main' into phoenix-pro

diff --cc src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 736d220ebcb432f367bf004311fdae663372b670,5b4448b2af994fbccb16659f2567d8869eaf5d5e..b5388983396d74d8e48d3eceb23254182f1d246e
--- 1/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
--- 2/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
@@@ -9,7 -10,7 +10,8 @@@ import java.util.function.Supplier
  import org.littletonrobotics.junction.AutoLogOutput;
  import org.littletonrobotics.junction.Logger;
  
 +import com.ctre.phoenix6.BaseStatusSignal;
+ import com.ctre.phoenix6.hardware.TalonFX;
  import com.pathplanner.lib.util.PathPlannerLogging;
  
  import edu.wpi.first.math.VecBuilder;

diff --cc src/main/java/frc/robot/subsystems/drivetrain/Module.java
index d415d047cb4e40aedc39be8a103440cd6a759df5,c9d241e4bf89a58f03d33f55d7b8ebdf3d6aca12..bfdf7556a57a5e0589be4c995f721fc17d984e48
--- 1/src/main/java/frc/robot/subsystems/drivetrain/Module.java
--- 2/src/main/java/frc/robot/subsystems/drivetrain/Module.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
@@@ -439,19 -423,7 +439,22 @@@ public class Module implements ModuleIO
          return inputs.odometryTimestamps;
      }
  
 +    /** returns the drive position status signal for time-synced odometry. */
 +    public StatusSignal<Angle> getDrivePositionSignal() {
 +        return drivePosition;
 +    }
 +
 +    /** returns the turn position status signal for time-synced odometry. */
 +    public StatusSignal<Angle> getTurnPositionSignal() {
 +        return turnPosition;
 +    }
 +
 +    /** returns the turn absolute position status signal for time-synced odometry. */
 +    public StatusSignal<Angle> getTurnAbsolutePositionSignal() {
 +        return turnAbsolutePosition;
 +    }
 +
+     public TalonFX[] getMotors() {
+         return new TalonFX[]{angleMotor, driveMotor};
+     }
  }