From fd427f6c8234ca729189b5c51b85a489781413b9 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 14 Oct 2023 21:51:15 -0700
Subject: [PATCH] [wpimath] Fix hardcoded module count in
 SwerveDriveKinematics.resetHeading() (#5762)

Fixes #5761.
---
 .../edu/wpi/first/math/kinematics/SwerveDriveKinematics.java    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
index dd91f123ec..aa5338e6eb 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
@@ -99,7 +99,7 @@ public class SwerveDriveKinematics
           "Number of headings is not consistent with number of module locations provided in "
               + "constructor");
     }
-    m_moduleHeadings = Arrays.copyOf(moduleHeadings, 4);
+    m_moduleHeadings = Arrays.copyOf(moduleHeadings, m_numModules);
   }
 
   /**