Add ability to set drive and turn motor types in swerve constants

src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java

@@ -13,6 +13,7 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
+import com.ctre.phoenix6.sim.TalonFXSimState.MotorType;
 import edu.wpi.first.math.MatBuilder;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
@@ -201,6 +202,16 @@ public ModuleConstants getBackRightModuleConstants() {
     return new ModuleConstants(3, "Back Right", 6, 7, 3, Rotation2d.fromRotations(-0.205));
   }
 
+  @Override
+  public MotorType getTurnMotorType() {
+    return MotorType.KrakenX60;
+  }
+
+  @Override
+  public MotorType getDriveMotorType() {
+    return MotorType.KrakenX60;
+  }
+
   @Override
   public int getGyroID() {
     return 0;

src/main/java/frc/robot/subsystems/swerve/constants/CompBotSwerveConstants.java

@@ -7,6 +7,7 @@
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.Pigeon2Configuration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.sim.TalonFXSimState.MotorType;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.units.measure.Mass;
 import frc.robot.components.camera.Camera.CameraConstants;
@@ -129,6 +130,16 @@ public TalonFXConfiguration getTurnConfig(int cancoderID) {
     throw new UnsupportedOperationException("Unimplemented method 'getTurnConfiguration'");
   }
 
+  @Override
+  public MotorType getDriveMotorType() {
+    return MotorType.KrakenX60;
+  }
+
+  @Override
+  public MotorType getTurnMotorType() {
+    return MotorType.KrakenX44;
+  }
+
   @Override
   public CANcoderConfiguration getCancoderConfig(Rotation2d cancoderOffset) {
     // TODO Auto-generated method stub

src/main/java/frc/robot/subsystems/swerve/constants/SeahorseSwerveConstants.java

@@ -9,6 +9,7 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
+import com.ctre.phoenix6.sim.TalonFXSimState.MotorType;
 import edu.wpi.first.math.MatBuilder;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
@@ -57,6 +58,16 @@ public int getGyroID() {
     return 0;
   }
 
+  @Override
+  public MotorType getDriveMotorType() {
+    return MotorType.KrakenX60;
+  }
+
+  @Override
+  public MotorType getTurnMotorType() {
+    return MotorType.KrakenX60;
+  }
+
   public Pigeon2Configuration getGyroConfig() {
     Pigeon2Configuration config = new Pigeon2Configuration();
     config.MountPose.MountPosePitch = -0.002175945555791259;

src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java

@@ -3,6 +3,7 @@
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.Pigeon2Configuration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.sim.TalonFXSimState.MotorType;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -136,6 +137,20 @@ public double getWheelRadiusMeters() {
    */
   public abstract TalonFXConfiguration getTurnConfig(int cancoderID);
 
+  /**
+   * The motor type of the swerve turn motors (i.e. x44 vs x60)
+   *
+   * @return
+   */
+  public abstract MotorType getTurnMotorType();
+
+  /**
+   * The motor type of the swerve drive motors (i.e. x44 vs x60)
+   *
+   * @return
+   */
+  public abstract MotorType getDriveMotorType();
+
   /**
    * The configuration for a swerve-module cancoder
    *

src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java

@@ -20,10 +20,12 @@ public ModuleIOSim(
     // using Async odo)
     this.simulation = simulation;
     this.simulation.useDriveMotorController(
-        new MaplePhoenixUtil.TalonFXMotorControllerSim(driveTalon, true));
+        new MaplePhoenixUtil.TalonFXMotorControllerSim(
+            driveTalon, SwerveSubsystem.SWERVE_CONSTANTS.getDriveMotorType(), true));
     this.simulation.useSteerMotorController(
         new MaplePhoenixUtil.TalonFXMotorControllerWithRemoteCancoderSim(
             turnTalon,
+            SwerveSubsystem.SWERVE_CONSTANTS.getTurnMotorType(),
             SwerveSubsystem.SWERVE_CONSTANTS.getTurnMotorInverted(),
             cancoder,
             false,

src/main/java/frc/robot/utils/MaplePhoenixUtil.java

@@ -20,6 +20,7 @@
 import com.ctre.phoenix6.sim.CANcoderSimState;
 import com.ctre.phoenix6.sim.ChassisReference;
 import com.ctre.phoenix6.sim.TalonFXSimState;
+import com.ctre.phoenix6.sim.TalonFXSimState.MotorType;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Voltage;
@@ -36,10 +37,11 @@ public static class TalonFXMotorControllerSim implements SimulatedMotorControlle
 
     private final TalonFXSimState talonFXSimState;
 
-    public TalonFXMotorControllerSim(TalonFX talonFX, boolean motorInverted) {
+    public TalonFXMotorControllerSim(TalonFX talonFX, MotorType motorType, boolean motorInverted) {
       this.id = instances++;
 
       this.talonFXSimState = talonFX.getSimState();
+      this.talonFXSimState.setMotorType(motorType);
       talonFXSimState.Orientation =
           motorInverted
               ? ChassisReference.Clockwise_Positive
@@ -66,11 +68,12 @@ public static class TalonFXMotorControllerWithRemoteCancoderSim
 
     public TalonFXMotorControllerWithRemoteCancoderSim(
         TalonFX talonFX,
+        MotorType motorType,
         boolean motorInverted,
         CANcoder cancoder,
         boolean encoderInverted,
         Angle encoderOffset) {
-      super(talonFX, motorInverted);
+      super(talonFX, motorType, motorInverted);
       this.remoteCancoderSimState = cancoder.getSimState();
       this.remoteCancoderSimState.Orientation =
           encoderInverted