From 2a95107fc9687a2c1b189a199cede8890701c5d6 Mon Sep 17 00:00:00 2001
From: danielbrownmsm <daniel.brown@msmrockets.org>
Date: Tue, 3 Jan 2023 19:19:08 -0600
Subject: [PATCH] add steering absolute encoders to swerve drive i/o. ticket:
 #11

---
 src/main/include/io/SwerveDriveIO.h | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/main/include/io/SwerveDriveIO.h b/src/main/include/io/SwerveDriveIO.h
index 90b48c4..6950047 100644
--- a/src/main/include/io/SwerveDriveIO.h
+++ b/src/main/include/io/SwerveDriveIO.h
@@ -8,7 +8,7 @@
 
 #include "AHRS.h"
 #include "Utils.h"
-
+#include "frc/AnalogInput.h"
 
 typedef struct swerve_drive_config_t {
     double max_output_drive;
@@ -35,6 +35,12 @@ typedef struct swerve_drive_hardware_interface_t {
     // AHRS
     AHRS *const ahrs;
 
+    // Steer encoders
+    frc::AnalogInput *const left_front_steer_encoder;
+    frc::AnalogInput *const left_back_steer_encoder;
+    frc::AnalogInput *const right_front_steer_encoder;
+    frc::AnalogInput *const right_back_steer_encoder;
+
 } SwerveDriveHardwareInterface;
 
 typedef struct swerve_drive_software_interface_t {