From 5cbde246e0407001da18b4909aa1f9039e906b10 Mon Sep 17 00:00:00 2001
From: Michael Kennedy <34204085+mlists@users.noreply.github.com>
Date: Mon, 11 Mar 2024 11:46:01 +1100
Subject: [PATCH] Appease robotic overlords

---
 components/chassis.py | 17 +++++++++++++----
 physics.py            |  4 +++-
 2 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/components/chassis.py b/components/chassis.py
index d6a8c19d..cb00d91a 100644
--- a/components/chassis.py
+++ b/components/chassis.py
@@ -235,7 +235,7 @@ def __init__(self) -> None:
 
         self.on_red_alliance = False
 
-        self.modules = [
+        self.modules = (
             # Front Left
             SwerveModule(
                 self.WHEEL_BASE / 2,
@@ -268,7 +268,7 @@ def __init__(self) -> None:
                 TalonIds.steer_4,
                 CancoderIds.swerve_4,
             ),
-        ]
+        )
 
         self.kinematics = SwerveDrive4Kinematics(
             self.modules[0].translation,
@@ -294,8 +294,17 @@ def __init__(self) -> None:
     def get_velocity(self) -> ChassisSpeeds:
         return self.kinematics.toChassisSpeeds(self.get_module_states())
 
-    def get_module_states(self) -> list[SwerveModuleState]:
-        return [module.get() for module in self.modules]
+    def get_module_states(
+        self,
+    ) -> tuple[
+        SwerveModuleState, SwerveModuleState, SwerveModuleState, SwerveModuleState
+    ]:
+        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
index 0106ba78..581f6d1c 100644
--- 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 = [