From a91c1a493270a2508f96e6d66a1254f0de2727c4 Mon Sep 17 00:00:00 2001
From: Zynh0722 <Zynh0722@gmail.com>
Date: Wed, 27 Mar 2024 17:46:46 -0700
Subject: [PATCH] pid settings

---
 src/main/cpp/cowlib/SwerveModule.cpp   | 11 +++++++++--
 src/main/include/cowlib/SwerveModule.h |  3 ++-
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/src/main/cpp/cowlib/SwerveModule.cpp b/src/main/cpp/cowlib/SwerveModule.cpp
index 5cad1da..d277c88 100644
--- a/src/main/cpp/cowlib/SwerveModule.cpp
+++ b/src/main/cpp/cowlib/SwerveModule.cpp
@@ -4,14 +4,21 @@
 
 #include "Constants.h"
 #include "rev/CANSparkMax.h"
+#include "units/base.h"
 
 #include "cowlib/SwerveModule.h"
 
 using namespace SwerveConstants;
+using namespace units::constants;
 
 using MotorType = rev::CANSparkMax::MotorType;
 
-SwerveModule::SwerveModule(int driveMotorId, int steerMotorId, int encoderId)
+SwerveModule::SwerveModule(int driveMotorId, int steerMotorId, int encoderId,
+                           bool driveInverted)
     : driveMotor{driveMotorId, rev::CANSparkMax::MotorType::kBrushless},
       steerMotor{steerMotorId, rev::CANSparkMax::MotorType::kBrushless},
-      encoder{encoderId}, pid{SwervePID::p, SwervePID::i, SwervePID::d} {}
+      encoder{encoderId}, pid{SwervePID::p, SwervePID::i, SwervePID::d} {
+  this->pid.EnableContinuousInput(-180, 180);
+
+  this->driveMotor.SetInverted(driveInverted);
+}
diff --git a/src/main/include/cowlib/SwerveModule.h b/src/main/include/cowlib/SwerveModule.h
index fd348a3..8bdf28d 100644
--- a/src/main/include/cowlib/SwerveModule.h
+++ b/src/main/include/cowlib/SwerveModule.h
@@ -16,5 +16,6 @@ private:
   frc::PIDController pid;
 
 public:
-  SwerveModule(int driveMotorId, int steerMotorId, int encoderId);
+  SwerveModule(int driveMotorId, int steerMotorId, int encoderId,
+               bool driveInverted);
 };