From 6d1c1113eb2e17bcc94c6752abbd65824025be78 Mon Sep 17 00:00:00 2001
From: Jatanimo <98921217+Jatanimo@users.noreply.github.com>
Date: Tue, 11 Aug 2026 20:44:46 -0400
Subject: [PATCH 1/2] Initialize turn zero from preferences in periodic method

---
 .../java/frc/robot/subsystems/drive/Module.java | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
index 578e9e8..016dae8 100644
--- a/src/main/java/frc/robot/subsystems/drive/Module.java
+++ b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -25,7 +25,7 @@ public class Module {
   private final ModuleIO io;
   private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged();
   private final String name;
-
+  private boolean initialized = false;
   private final Alert driveDisconnectedAlert;
   private final Alert turnDisconnectedAlert;
   private SwerveModulePosition[] odometryPositions = new SwerveModulePosition[] {};
@@ -51,12 +51,25 @@ public Module(ModuleIO io, String name) {
   }
 
   public void periodic() {
+  
     long t0 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     io.updateInputs(inputs);
     long t1 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     Logger.processInputs("Drive/Module" + name, inputs);
     long t2 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
-
+    if(!initialized) {
+       // Set turn zero from preferences
+      Rotation2d turnZeroFromCancoder = inputs.turnZero;
+      Preferences.initDouble(ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians());
+      Rotation2d turnZeroFromPreferences =
+        new Rotation2d(
+            Preferences.getDouble(
+                ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians()));
+      io.setTurnZero(turnZeroFromPreferences);
+      Logger.recordOutput(
+        "Drive/Module" + name + "/TurnZeroRad", turnZeroFromPreferences.getRadians());
+      initialized = true;
+    }
     // Calculate positions for odometry
     int sampleCount = inputs.odometryTimestamps.length; // All signals are sampled together
     odometryPositions = new SwerveModulePosition[sampleCount];

From 1a4e76326c6ded924cd53bfc448af42e0c79ea68 Mon Sep 17 00:00:00 2001
From: Jatanimo <98921217+Jatanimo@users.noreply.github.com>
Date: Tue, 11 Aug 2026 20:44:57 -0400
Subject: [PATCH 2/2] Refactor turn zero initialization in Module class for
 clarity and consistency

---
 .../frc/robot/subsystems/drive/Module.java    | 25 ++++++-------------
 1 file changed, 7 insertions(+), 18 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
index 016dae8..29d305b 100644
--- a/src/main/java/frc/robot/subsystems/drive/Module.java
+++ b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -37,37 +37,26 @@ public Module(ModuleIO io, String name) {
         new Alert("Disconnected drive motor on module " + name + ".", AlertType.kError);
     turnDisconnectedAlert =
         new Alert("Disconnected turn motor on module " + name + ".", AlertType.kError);
-
-    // Set turn zero from preferences
-    Rotation2d turnZeroFromCancoder = inputs.turnZero;
-    Preferences.initDouble(ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians());
-    Rotation2d turnZeroFromPreferences =
-        new Rotation2d(
-            Preferences.getDouble(
-                ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians()));
-    io.setTurnZero(turnZeroFromPreferences);
-    Logger.recordOutput(
-        "Drive/Module" + name + "/TurnZeroRad", turnZeroFromPreferences.getRadians());
   }
 
   public void periodic() {
-  
+
     long t0 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     io.updateInputs(inputs);
     long t1 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     Logger.processInputs("Drive/Module" + name, inputs);
     long t2 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
-    if(!initialized) {
-       // Set turn zero from preferences
+    if (!initialized) {
+      // Set turn zero from preferences
       Rotation2d turnZeroFromCancoder = inputs.turnZero;
       Preferences.initDouble(ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians());
       Rotation2d turnZeroFromPreferences =
-        new Rotation2d(
-            Preferences.getDouble(
-                ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians()));
+          new Rotation2d(
+              Preferences.getDouble(
+                  ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians()));
       io.setTurnZero(turnZeroFromPreferences);
       Logger.recordOutput(
-        "Drive/Module" + name + "/TurnZeroRad", turnZeroFromPreferences.getRadians());
+          "Drive/Module" + name + "/TurnZeroRad", turnZeroFromPreferences.getRadians());
       initialized = true;
     }
     // Calculate positions for odometry