Fixes to BearSwerve sim

src/main/java/com/team766/robot/common/mechanisms/simulation/QuadSwerveSim.java

@@ -92,6 +92,7 @@ public void modelReset(Pose2d pose) {
      * @param dtSeconds size of the discrete step to take
      */
     public void update(double dtSeconds) {
+        if (dtSeconds == 0.0) return;
 
         Pose2d fieldRF = new Pose2d(); // global origin
         Transform2d fieldToRobot = new Transform2d(fieldRF, m_curPose);

src/main/java/com/team766/robot/common/mechanisms/simulation/SwerveModuleSim.java

@@ -9,8 +9,9 @@ public class SwerveModuleSim {
     private SimpleMotorWithMassModel m_azmthMotor;
     private MotorGearboxWheelSim m_wheelMotor;
 
-    private final double m_azimuthEncGearRatio;    //Motor-to-azimuth-encoder reduction
-    private final double m_wheelEncGearRatio;      //Motor-to-wheel-encoder reduction
+    private final double m_azimuthEncGearRatio;    //Encoder-to-azimuth reduction
+    private final double m_azimuthMotorGearRatio;  //Motor-to-azimuth reduction
+    private final double m_wheelEncGearRatio;      //Encoder-to-wheel reduction
     private final double m_treadStaticFricForce;
     private final double m_treadKineticFricForce;
     //TODO - make the "how much grease" factor configurable?
@@ -72,6 +73,7 @@ public SwerveModuleSim(
                                                      m_wheelGearboxLossFactor);
 
         this.m_azimuthEncGearRatio   = azimuthEncGearRatio;
+        this.m_azimuthMotorGearRatio = azimuthGearRatio;
         this.m_wheelEncGearRatio     = wheelEncGearRatio;
         this.m_treadStaticFricForce  = treadStaticCoefFric * moduleNormalForce;
         this.m_treadKineticFricForce = treadKineticCoefFric * moduleNormalForce;
@@ -109,19 +111,19 @@ public double getWheelEncoderPositionRev() {
     }
 
     public double getAzimuthMotorPositionRev(){
-        return m_azmthMotor.getMechanismPositionRev();
+        return m_azmthMotor.getMechanismPositionRev() * m_azimuthMotorGearRatio;
     }
 
     public double getAzimuthMotorVelocityRPM(){
-        return m_azmthMotor.getMechanismSpeed_RPM();
+        return m_azmthMotor.getMechanismSpeed_RPM() * m_azimuthMotorGearRatio;
     }
 
     public double getAzimuthEncoderVelocityRPM(){
         return m_azmthMotor.getMechanismSpeed_RPM() * m_azimuthEncGearRatio;
     }
 
     public double getWheelEncoderVelocityRPM(){
-        return m_azmthMotor.getMechanismSpeed_RPM() * m_wheelEncGearRatio;
+        return m_wheelMotor.getWheelSpeed_RPM() * m_wheelEncGearRatio;
     }
 
     void reset(Pose2d initModulePose) {