From: iefomit <timofei.stem@gmail.com>
Date: Wed, 1 Apr 2026 23:40:15 +0000 (-0700)
Subject: Merge branch 'main' into phoenix-pro
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=dcf431c31351954ed4f19278a593885f23c9adb1;p=FRC2026.git

Merge branch 'main' into phoenix-pro
---

dcf431c31351954ed4f19278a593885f23c9adb1
diff --cc src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 736d220,5b4448b..b538898
--- a/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 d415d04,c9d241e..bfdf755
--- a/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};
+     }
  }