Updated to 2024.4.6.3

swervelib/motors/SparkFlexSwerve.java

@@ -404,6 +404,39 @@ public class SparkFlexSwerve extends SwerveMotor
     setReference(setpoint, feedforward);
   }
 
+  /**
+   * Get the voltage output of the motor controller.
+   *
+   * @return Voltage output.
+   */
+  @Override
+  public double getVoltage()
+  {
+    return motor.getAppliedOutput() * motor.getBusVoltage();
+  }
+
+  /**
+   * Set the voltage of the motor.
+   *
+   * @param voltage Voltage to set.
+   */
+  @Override
+  public void setVoltage(double voltage)
+  {
+    motor.setVoltage(voltage);
+  }
+
+  /**
+   * Get the applied dutycycle output.
+   *
+   * @return Applied dutycycle output to the motor.
+   */
+  @Override
+  public double getAppliedOutput()
+  {
+    return motor.getAppliedOutput();
+  }
+
   /**
    * Get the velocity of the integrated encoder.
    *