Added setVoltage function to swerve motors, made SwervePoseEstimator public, and changed setting targetVelocity to inside setState

swervelib/motors/REVSwerveMotor.java

@@ -236,6 +236,17 @@ public class REVSwerveMotor extends SwerveMotor
     m_motor.set(speed);
   }
 
+  /**
+   * Set the voltage of the motor.
+   *
+   * @param voltage Voltage to output.
+   */
+  @Override
+  public void setVoltage(double voltage)
+  {
+    m_motor.setVoltage(voltage);
+  }
+
   /**
    * Get the current value of the encoder corresponding to the PID.
    *