Expose motors and steer encoders

Fix #3, fix #4

src/main/java/com/swervedrivespecialties/swervelib/DriveController.java

@@ -1,6 +1,8 @@
 package com.swervedrivespecialties.swervelib;
 
 public interface DriveController {
+    Object getDriveMotor();
+
     void setReferenceVoltage(double voltage);
 
     double getStateVelocity();

src/main/java/com/swervedrivespecialties/swervelib/Mk3SwerveModuleHelper.java

@@ -1,9 +1,7 @@
 package com.swervedrivespecialties.swervelib;
 
 import com.swervedrivespecialties.swervelib.ctre.*;
-import com.swervedrivespecialties.swervelib.rev.NeoDriveControllerFactoryBuilder;
-import com.swervedrivespecialties.swervelib.rev.NeoSteerConfiguration;
-import com.swervedrivespecialties.swervelib.rev.NeoSteerControllerFactoryBuilder;
+import com.swervedrivespecialties.swervelib.rev.*;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 
 public final class Mk3SwerveModuleHelper {

src/main/java/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.java

@@ -1,9 +1,7 @@
 package com.swervedrivespecialties.swervelib;
 
 import com.swervedrivespecialties.swervelib.ctre.*;
-import com.swervedrivespecialties.swervelib.rev.NeoDriveControllerFactoryBuilder;
-import com.swervedrivespecialties.swervelib.rev.NeoSteerConfiguration;
-import com.swervedrivespecialties.swervelib.rev.NeoSteerControllerFactoryBuilder;
+import com.swervedrivespecialties.swervelib.rev.*;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 
 public final class Mk4SwerveModuleHelper {

src/main/java/com/swervedrivespecialties/swervelib/SteerController.java

@@ -1,6 +1,10 @@
 package com.swervedrivespecialties.swervelib;
 
 public interface SteerController {
+    Object getSteerMotor();
+
+    AbsoluteEncoder getSteerEncoder();
+
     double getReferenceAngle();
 
     void setReferenceAngle(double referenceAngleRadians);

src/main/java/com/swervedrivespecialties/swervelib/SwerveModule.java

@@ -1,6 +1,12 @@
 package com.swervedrivespecialties.swervelib;
 
 public interface SwerveModule {
+    Object getDriveMotor();
+
+    Object getSteerMotor();
+
+    AbsoluteEncoder getSteerEncoder();
+
     double getDriveVelocity();
 
     double getSteerAngle();

src/main/java/com/swervedrivespecialties/swervelib/SwerveModuleFactory.java

@@ -46,6 +46,21 @@ private ModuleImplementation(DriveController driveController, SteerController st
             this.steerController = steerController;
         }
 
+        @Override
+        public Object getDriveMotor() {
+            return driveController.getDriveMotor();
+        }
+
+        @Override
+        public Object getSteerMotor() {
+            return steerController.getSteerMotor();
+        }
+
+        @Override
+        public AbsoluteEncoder getSteerEncoder() {
+            return steerController.getSteerEncoder();
+        }
+
         @Override
         public double getDriveVelocity() {
             return driveController.getStateVelocity();

src/main/java/com/swervedrivespecialties/swervelib/ctre/Falcon500DriveControllerFactoryBuilder.java

@@ -95,6 +95,11 @@ private ControllerImplementation(TalonFX motor, double sensorVelocityCoefficient
             this.sensorVelocityCoefficient = sensorVelocityCoefficient;
         }
 
+        @Override
+        public Object getDriveMotor() {
+            return this.motor;
+        }
+
         @Override
         public void setReferenceVoltage(double voltage) {
             motor.set(TalonFXControlMode.PercentOutput, voltage / nominalVoltage);

src/main/java/com/swervedrivespecialties/swervelib/ctre/Falcon500SteerControllerFactoryBuilder.java

@@ -172,6 +172,16 @@ private ControllerImplementation(TalonFX motor,
             this.absoluteEncoder = absoluteEncoder;
         }
 
+        @Override
+        public Object getSteerMotor() {
+            return this.motor;
+        }
+
+        @Override
+        public AbsoluteEncoder getSteerEncoder() {
+            return this.absoluteEncoder;
+        }
+
         @Override
         public double getReferenceAngle() {
             return referenceAngleRadians;

src/main/java/com/swervedrivespecialties/swervelib/rev/NeoDriveControllerFactoryBuilder.java

@@ -75,6 +75,11 @@ private ControllerImplementation(CANSparkMax motor, RelativeEncoder encoder) {
             this.encoder = encoder;
         }
 
+        @Override
+        public Object getDriveMotor() {
+            return this.motor;
+        }
+
         @Override
         public void setReferenceVoltage(double voltage) {
             motor.setVoltage(voltage);

src/main/java/com/swervedrivespecialties/swervelib/rev/NeoSteerControllerFactoryBuilder.java

@@ -99,7 +99,7 @@ public static class ControllerImplementation implements SteerController {
         private static final int ENCODER_RESET_ITERATIONS = 500;
         private static final double ENCODER_RESET_MAX_ANGULAR_VELOCITY = Math.toRadians(0.5);
 
-        @SuppressWarnings({"FieldCanBeLocal", "unused"})
+        @SuppressWarnings("FieldCanBeLocal")
         private final CANSparkMax motor;
         private final SparkMaxPIDController controller;
         private final RelativeEncoder motorEncoder;
@@ -116,6 +116,16 @@ public ControllerImplementation(CANSparkMax motor, AbsoluteEncoder absoluteEncod
             this.absoluteEncoder = absoluteEncoder;
         }
 
+        @Override
+        public Object getSteerMotor() {
+            return this.motor;
+        }
+
+        @Override
+        public AbsoluteEncoder getSteerEncoder() {
+            return this.absoluteEncoder;
+        }
+
         @Override
         public double getReferenceAngle() {
             return referenceAngleRadians;