Appease robotic overlords

thedropbears · Mar 11, 2024 · b782ba7 · b782ba7
1 parent 163397c
commit b782ba7
Showing 1 changed file with 13 additions and 4 deletions.
diff --git 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