From 9043b6aa8b94d3ce3dda46529a9c1d9ca85fe0f7 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sun, 15 Jan 2023 15:15:22 -0700
Subject: [PATCH] more functionality for SwerveModule

---
 .../java/frc4388/robot/subsystems/SwerveModule.java | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index 89a986a..fbf4bb8 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -125,6 +125,15 @@ public class SwerveModule extends SubsystemBase {
         driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
     }
 
-    
+    public void reset() {
+        canCoder.setPositionToAbsolute();
+    }
 
-}
+    public double getCurrent() {
+        return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
+    }
+
+    public double getVoltage() {
+        return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage()));
+    }
+}
\ No newline at end of file