From 1f2634978e6cb87f0b14d5c5ea336992d2b88575 Mon Sep 17 00:00:00 2001
From: jace rodgers <jaransas2008@gmail.com>
Date: Tue, 14 Jan 2025 13:56:25 -0600
Subject: [PATCH] changed sim conversions

---
 src/main/java/frc/lib/util/swerve/SwerveModuleSim.java | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/lib/util/swerve/SwerveModuleSim.java b/src/main/java/frc/lib/util/swerve/SwerveModuleSim.java
index 8136451..e95922d 100644
--- a/src/main/java/frc/lib/util/swerve/SwerveModuleSim.java
+++ b/src/main/java/frc/lib/util/swerve/SwerveModuleSim.java
@@ -1,6 +1,7 @@
 package frc.lib.util.swerve;
 
 import static edu.wpi.first.units.Units.Meters;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static edu.wpi.first.units.Units.Seconds;
@@ -50,7 +51,8 @@ public void setModNumber(int number) {
     public void updateInputs(SwerveModuleInputs inputs) {
         driveSim.update(LoggedRobot.defaultPeriodSecs);
         AngularVelocity driveSpeed =
-            RotationsPerSecond.of(Units.radiansToRotations(driveSim.getAngularVelocityRadPerSec()));
+            RadiansPerSecond.of(driveSim.getAngularAccelerationRadPerSecSq());
+        RotationsPerSecond.of(Units.radiansToRotations(driveSim.getAngularVelocityRadPerSec()));
         this.distance = driveSpeed.times(Seconds.of(LoggedRobot.defaultPeriodSecs)).plus(distance);
         inputs.driveMotorSelectedPosition = this.distance;
         inputs.driveMotorSelectedSensorVelocity = driveSpeed;