Merge branch 'Update-autonomous' into auto-refeactor

thedropbears · Mar 11, 2024 · 23bc5f3 · 23bc5f3
2 parents 9ebd4a5 + 5cbde24
commit 23bc5f3
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/components/chassis.py b/components/chassis.py
@@ -299,7 +299,12 @@ def get_module_states(
     ) -> tuple[
         SwerveModuleState, SwerveModuleState, SwerveModuleState, SwerveModuleState
     ]:
-        return tuple(module.get() for module in self.modules)
+        return (
+            self.modules[0].get(),
+            self.modules[1].get(),
+            self.modules[2].get(),
+            self.modules[3].get(),
+        )
 
     def setup(self) -> None:
         initial_pose = TeamPoses.RED_TEST_POSE if is_red() else TeamPoses.BLUE_TEST_POSE

diff --git a/physics.py b/physics.py
@@ -70,7 +70,9 @@ def __init__(self, physics_controller: PhysicsInterface, robot: MyRobot):
         self.physics_controller = physics_controller
 
         self.kinematics: SwerveDrive4Kinematics = robot.chassis.kinematics
-        self.swerve_modules: list[SwerveModule] = robot.chassis.modules
+        self.swerve_modules: tuple[
+            SwerveModule, SwerveModule, SwerveModule, SwerveModule
+        ] = robot.chassis.modules
 
         # Motors
         self.wheels = [