FINAL OFFSETS ARE IN CODE

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -29,8 +29,6 @@ public class SwerveDrive extends SubsystemBase {
 
   private SwerveModule[] modules;
 
- 
-
   // private RobotGyro gyro3
 
   private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
@@ -207,6 +205,10 @@ public class SwerveDrive extends SubsystemBase {
     }
   }
 
+  public SwerveDriveKinematics getKinematics() {
+    return this.kinematics;
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run