From 96a0e18dc998421ce87f7095425528529e4b593c Mon Sep 17 00:00:00 2001
From: Ivan Chen <ivanchen07@gmail.com>
Date: Tue, 23 Jan 2024 16:59:39 -0500
Subject: [PATCH] Expose required methods

---
 .../subsystems/swerve/AbstractSwerveDrive.java     |  7 ++++++-
 .../robot/subsystems/swerve/SwerveDrive.java       | 14 ++++++--------
 2 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/AbstractSwerveDrive.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/AbstractSwerveDrive.java
index 0b1970dd..52ab631e 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/swerve/AbstractSwerveDrive.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/AbstractSwerveDrive.java
@@ -6,8 +6,10 @@
 import com.stuypulse.robot.constants.Settings.Swerve.FrontLeft;
 import com.stuypulse.robot.constants.Settings.Swerve.FrontRight;
 
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
@@ -31,7 +33,8 @@ public static AbstractSwerveDrive getInstance() {
     }
 
     public abstract void initFieldObject(Field2d field);
-    
+
+    public abstract SwerveDriveKinematics getKinematics();
     public abstract SwerveModuleState[] getModuleStates();
     public abstract SwerveModulePosition[] getModulePositions();
     public abstract Translation2d[] getModuleOffsets();
@@ -41,4 +44,6 @@ public static AbstractSwerveDrive getInstance() {
     public abstract void setModuleStates(SwerveModuleState[] states);
     public abstract void drive(Vector2D velocity, double Rotation2D);
     public abstract void stop(double Rotation2D); 
+
+    public abstract Rotation2d getGyroAngle();
 }   
diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java
index a93f62ed..45ef63dd 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java
@@ -77,6 +77,7 @@ public void initFieldObject(Field2d field) {
         }
     }
     
+    @Override
     public SwerveDriveKinematics getKinematics() {
         return kinematics;
     }
@@ -169,21 +170,18 @@ public void stop(double Rotation2D) {
     } 
 
     /*Gyro */
-    public Rotation2d getGyroPitch() {
-        return Rotation2d.fromDegrees(gyro.getPitch());
-    }
-
+    @Override
     public Rotation2d getGyroAngle() {
         return gyro.getRotation2d();
     }
+
+    public Rotation2d getGyroPitch() {
+        return Rotation2d.fromDegrees(gyro.getPitch());
+    }
     
     public Rotation2d getGyroRoll() {
         return Rotation2d.fromDegrees(gyro.getRoll());
     }
-    
-    public Rotation2d getGyroYaw() {
-        return Rotation2d.fromDegrees(gyro.getYaw());
-    }
 
     public double getForwardAccelerationGs() {
         return gyro.getWorldLinearAccelY();