From d67c47cf7b0e370d950659064ef02809601c1d7c Mon Sep 17 00:00:00 2001
From: blueskinlizard <blueskinlizard@gmail.com>
Date: Sun, 21 Sep 2025 14:46:40 -0500
Subject: [PATCH 1/2] Actually call resetToAbsolute

---
 .../robot/generic/subsystems/drive/Drive.java    | 16 ++++++++++++----
 .../robot/generic/subsystems/drive/Module.java   |  4 ++++
 .../frc/robot/generic/util/SwerveBuilder.java    |  1 +
 3 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/generic/subsystems/drive/Drive.java b/src/main/java/frc/robot/generic/subsystems/drive/Drive.java
index c61932d..1b3f979 100644
--- a/src/main/java/frc/robot/generic/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/generic/subsystems/drive/Drive.java
@@ -40,6 +40,7 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.Constants;
@@ -78,10 +79,7 @@ public Drive(
       ModuleIO blModuleIO,
       ModuleIO brModuleIO) {
     this.gyroIO = gyroIO;
-    modules[0] = new Module(flModuleIO, 0);
-    modules[1] = new Module(frModuleIO, 1);
-    modules[2] = new Module(blModuleIO, 2);
-    modules[3] = new Module(brModuleIO, 3);
+    
 
     // Usage reporting for swerve template
     HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDriveSwerve_AdvantageKit);
@@ -320,4 +318,14 @@ public double getMaxLinearSpeedMetersPerSec() {
   public double getMaxAngularSpeedRadPerSec() {
     return maxSpeedMetersPerSec / driveBaseRadius;
   }
+  // Reset ModuleIO to absolute position based on module array
+  // Made this a method for implementation into the SwerveBuilder class (that's also why it returns command not void)
+  public Command resetModulesToAbsolute(){
+    // Added getter as the code was a bit more readable than just manually reseting each instance
+    return Commands.runOnce(() ->{
+      for(Module module : modules) {
+        module.getModuleIO().resetToAbsolute();
+      }
+    }, this);
+  }
 }
diff --git a/src/main/java/frc/robot/generic/subsystems/drive/Module.java b/src/main/java/frc/robot/generic/subsystems/drive/Module.java
index 2882b0c..ea7afc4 100644
--- a/src/main/java/frc/robot/generic/subsystems/drive/Module.java
+++ b/src/main/java/frc/robot/generic/subsystems/drive/Module.java
@@ -128,4 +128,8 @@ public double getWheelRadiusCharacterizationPosition() {
   public double getFFCharacterizationVelocity() {
     return inputs.driveVelocityRadPerSec;
   }
+  // Gets moduleio instance
+  public ModuleIO getModuleIO(){ 
+    return io;
+  }
 }
diff --git a/src/main/java/frc/robot/generic/util/SwerveBuilder.java b/src/main/java/frc/robot/generic/util/SwerveBuilder.java
index 33d7466..3d1d9a4 100644
--- a/src/main/java/frc/robot/generic/util/SwerveBuilder.java
+++ b/src/main/java/frc/robot/generic/util/SwerveBuilder.java
@@ -75,6 +75,7 @@ public static Drive buildDefaultDrive(CommandXboxController driveController) {
                         drive.setPose(
                             new Pose2d(drive.getPose().getTranslation(), new Rotation2d())),
                     drive)
+                    .andThen(drive.resetModulesToAbsolute()) // Resets modules when button pressed
                 .ignoringDisable(true));
     return drive;
   }

From 1be12fe514c69032333cb59f5eb6c8f0ef2eee92 Mon Sep 17 00:00:00 2001
From: blueskinlizard <blueskinlizard@gmail.com>
Date: Sun, 21 Sep 2025 14:50:03 -0500
Subject: [PATCH 2/2] Readded modules that were accidentally deleted & actually
 called function

---
 src/main/java/frc/robot/generic/subsystems/drive/Drive.java | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main/java/frc/robot/generic/subsystems/drive/Drive.java b/src/main/java/frc/robot/generic/subsystems/drive/Drive.java
index 1b3f979..87d5fc6 100644
--- a/src/main/java/frc/robot/generic/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/generic/subsystems/drive/Drive.java
@@ -80,6 +80,12 @@ public Drive(
       ModuleIO brModuleIO) {
     this.gyroIO = gyroIO;
     
+    modules[0] = new Module(flModuleIO, 0);
+    modules[1] = new Module(frModuleIO, 1);
+    modules[2] = new Module(blModuleIO, 2);
+    modules[3] = new Module(brModuleIO, 3);
+
+    resetModulesToAbsolute();
 
     // Usage reporting for swerve template
     HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDriveSwerve_AdvantageKit);