Updated to 2024

swervelib/parser/SwerveDriveConfiguration.java

@@ -81,4 +81,15 @@ public class SwerveDriveConfiguration
     }
     return modArr;
   }
+
+  /**
+   * Assume the first module is the furthest. Usually front-left.
+   *
+   * @return Drive base radius from center of robot to the farthest wheel in meters.
+   */
+  public double getDriveBaseRadiusMeters()
+  {
+    Translation2d furthestModule = moduleLocationsMeters[0];
+    return Math.abs(Math.sqrt(Math.pow(furthestModule.getX(), 2) + Math.pow(furthestModule.getY(), 2)));
+  }
 }