Works,need to clean up

src/main/java/frc/lib/util/swerve/SwerveModule.java

@@ -1,5 +1,6 @@
 package frc.lib.util.swerve;
 
+import org.littletonrobotics.junction.Logger;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.PositionVoltage;
 import com.ctre.phoenix6.controls.VelocityVoltage;
@@ -43,14 +44,20 @@ public class SwerveModule {
     public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int cancoderID,
         Rotation2d angleOffset, SwerveModuleIO io) {
         this.io = io;
-        io.updateInputs(inputs);
+
         this.moduleNumber = moduleNumber;
 
         this.angleOffset = angleOffset;
 
         // lastAngle = getState().angle.getDegrees();
+        io.updateInputs(inputs);
         resetToAbsolute();
+        Logger.processInputs("SwerveModule" + moduleNumber, inputs);
+    }
 
+    public void periodic() {
+        io.updateInputs(inputs);
+        Logger.processInputs("SwerveModule" + moduleNumber, inputs);
     }
 
     /**
@@ -75,12 +82,14 @@ private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop) {
         if (isOpenLoop) {
             driveDutyCycle.Output = desiredState.speedMetersPerSecond / Constants.Swerve.maxSpeed;
             io.setDriveMotor(driveDutyCycle);
+            inputs.driveMotorSelectedSensorVelocity = driveDutyCycle.Output;
         } else {
             driveVelocity.Velocity = Conversions.MPSToRPS(desiredState.speedMetersPerSecond,
                 Constants.Swerve.wheelCircumference);
             driveVelocity.FeedForward =
                 driveFeedForward.calculate(desiredState.speedMetersPerSecond);
-            io.setDriveMotor(driveDutyCycle);
+            io.setDriveMotor(driveVelocity);
+            inputs.driveMotorSelectedSensorVelocity = driveDutyCycle.Output;
         }
     }
 
@@ -90,7 +99,7 @@ private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop) {
      * @return The rotation of the CANCoder in {@link Rotation2d}
      */
     public Rotation2d getCANcoder() {
-        return Rotation2d.fromRotations(io.getAbsolutePositionAngleEncoder());
+        return Rotation2d.fromRotations(inputs.absolutePositionAngleEncoder);
     }
 
     /**
@@ -99,6 +108,7 @@ public Rotation2d getCANcoder() {
     public void resetToAbsolute() {
         double absolutePosition = getCANcoder().getRotations() - angleOffset.getRotations();
         io.setPositionAngleMotor(absolutePosition);
+        inputs.angleMotorSelectedPosition = absolutePosition;
     }
 
     /**
@@ -108,8 +118,9 @@ public void resetToAbsolute() {
      */
     public SwerveModuleState getState() {
         return new SwerveModuleState(
-            Conversions.RPSToMPS(io.getVelocityDriveMotor(), Constants.Swerve.wheelCircumference),
-            Rotation2d.fromRotations(io.getPositionAngleMotor()));
+            Conversions.RPSToMPS(inputs.driveMotorSelectedSensorVelocity,
+                Constants.Swerve.wheelCircumference),
+            Rotation2d.fromRotations(inputs.angleMotorSelectedPosition));
     }
 
     /**
@@ -119,9 +130,9 @@ public SwerveModuleState getState() {
      */
     public SwerveModulePosition getPosition() {
         return new SwerveModulePosition(
-            Conversions.rotationsToMeters(io.getPositionDriveMotor(),
+            Conversions.rotationsToMeters(inputs.driveMotorSelectedPosition,
                 Constants.Swerve.wheelCircumference),
-            Rotation2d.fromRotations(io.getPositionAngleMotor()));
+            Rotation2d.fromRotations(inputs.angleMotorSelectedPosition));
 
     }
 }

src/main/java/frc/lib/util/swerve/SwerveModuleIO.java

@@ -9,12 +9,10 @@ public interface SwerveModuleIO {
     /** Inputs Class for SwerveModule */
     @AutoLog
     public static class SwerveModuleInputs {
-        public double angleEncoderValue;
         public double driveMotorSelectedPosition;
         public double driveMotorSelectedSensorVelocity;
         public double angleMotorSelectedPosition;
-        public double driveMotorTemperature;
-        public double angleMotorTemperature;
+        public double absolutePositionAngleEncoder;
     }
 
     public default void updateInputs(SwerveModuleInputs inputs) {}
@@ -25,22 +23,6 @@ public default void setAngleMotor(ControlRequest request) {}
 
     public default void setAngleSelectedSensorPosition(double angle) {}
 
-    public default double getAbsolutePositionAngleEncoder() {
-        return 0.0;
-    }
-
     public default void setPositionAngleMotor(double absolutePosition) {}
 
-    public default double getVelocityDriveMotor() {
-        return 0.0;
-    }
-
-    public default double getPositionAngleMotor() {
-        return 0.0;
-    }
-
-    public default double getPositionDriveMotor() {
-        return 0.0;
-    }
-
 }

src/main/java/frc/lib/util/swerve/SwerveModuleReal.java

@@ -110,28 +110,16 @@ public void setDriveMotor(ControlRequest request) {
     }
 
     @Override
-    public double getAbsolutePositionAngleEncoder() {
-        return angleEncoder.getAbsolutePosition().getValueAsDouble();
+    public void updateInputs(SwerveModuleInputs inputs) {
+        inputs.driveMotorSelectedPosition = mDriveMotor.getPosition().getValueAsDouble();
+        inputs.driveMotorSelectedSensorVelocity = mDriveMotor.getVelocity().getValueAsDouble();
+        inputs.angleMotorSelectedPosition = mAngleMotor.getPosition().getValueAsDouble();
+        inputs.absolutePositionAngleEncoder = angleEncoder.getAbsolutePosition().getValueAsDouble();
     }
 
     @Override
     public void setPositionAngleMotor(double absolutePosition) {
         mAngleMotor.setPosition(absolutePosition);
     }
 
-    @Override
-    public double getVelocityDriveMotor() {
-        return mDriveMotor.getVelocity().getValueAsDouble();
-    }
-
-    @Override
-    public double getPositionAngleMotor() {
-        return mAngleMotor.getPosition().getValueAsDouble();
-    }
-
-    @Override
-    public double getPositionDriveMotor() {
-        return mDriveMotor.getPosition().getValueAsDouble();
-    }
-
 }

src/main/java/frc/robot/Constants.java

@@ -48,10 +48,11 @@ public static final class Swerve {
 
         /* Module Gear Ratios */
         public static final double driveGearRatio = (8.14 / 1.0); // MK4i L1
-        public static final double angleGearRatio = ((150.0 / 7.0) / 1.0); // (150 / 7) : 1
+        public static final double angleGearRatio = 12.8 / 1.0;
 
         /* Motor Inverts */
-        public static final InvertedValue angleMotorInvert = InvertedValue.Clockwise_Positive;
+        public static final InvertedValue angleMotorInvert =
+            InvertedValue.CounterClockwise_Positive;
         public static final InvertedValue driveMotorInvert =
             InvertedValue.CounterClockwise_Positive;
 

src/main/java/frc/robot/subsystems/swerve/Swerve.java

@@ -1,6 +1,7 @@
 package frc.robot.subsystems.swerve;
 
 import java.util.Optional;
+import org.littletonrobotics.junction.Logger;
 import com.kauailabs.navx.frc.AHRS;
 import com.pathplanner.lib.auto.AutoBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -26,11 +27,15 @@ public class Swerve extends SubsystemBase {
     public SwerveModule[] swerveMods;
     public AHRS gyro = new AHRS(Constants.Swerve.navXID);
     private double fieldOffset = gyro.getYaw();
+    private SwerveInputsAutoLogged inputs = new SwerveInputsAutoLogged();
+    private SwerveIO swerveIO;
 
     /**
      * Swerve Subsystem
      */
     public Swerve(SwerveIO swerveIO) {
+        this.swerveIO = swerveIO;
+        swerveIO.updateInputs(inputs);
         swerveMods = new SwerveModule[] {
             swerveIO.createSwerveModule(0, Constants.Swerve.Mod0.DRIVE_MOTOR_ID,
                 Constants.Swerve.Mod0.ANGLE_MOTOR_ID, Constants.Swerve.Mod0.CAN_CODER_ID,
@@ -198,8 +203,10 @@ public void resetModulesToAbsolute() {
     @Override
     public void periodic() {
         swerveOdometry.update(getGyroYaw(), getModulePositions());
-
+        swerveIO.updateInputs(inputs);
+        Logger.processInputs("Swerve", inputs);
         for (SwerveModule mod : swerveMods) {
+            mod.periodic();
             SmartDashboard.putNumber("Mod " + mod.moduleNumber + " CANcoder",
                 mod.getCANcoder().getDegrees());
             SmartDashboard.putNumber("Mod " + mod.moduleNumber + " Angle",