tested the chassis config reader on real chassis

now it's working good

src/main/java/frc/robot/RobotContainer.java

@@ -60,7 +60,7 @@ public RobotContainer(String chassisName) {
                          new GyroIOPigeon2(),
                          new ModuleIOTalonFX(chassisCalibrationFile.getBlock("FrontLeft"), generalConfigBlock),
                          new ModuleIOTalonFX(chassisCalibrationFile.getBlock("FrontRight"), generalConfigBlock),
-                         new ModuleIOTalonFX(chassisCalibrationFile.getBlock("backLeft"), generalConfigBlock),
+                         new ModuleIOTalonFX(chassisCalibrationFile.getBlock("BackLeft"), generalConfigBlock),
                          new ModuleIOTalonFX(chassisCalibrationFile.getBlock("BackRight"), generalConfigBlock),
                          generalConfigBlock
                  );

src/main/java/frc/robot/commands/DriveCommands.java

@@ -13,6 +13,7 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.hal.simulation.REVPHDataJNI;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -62,17 +63,16 @@ public static Command joystickDrive(
                                     .getTranslation();
 
                     // Convert to field relative speeds & send command
-                    boolean isFlipped =
-                            DriverStation.getAlliance().isPresent()
-                                    && DriverStation.getAlliance().get() == Alliance.Red;
-                    drive.runVelocity(
-                            ChassisSpeeds.fromFieldRelativeSpeeds(
-                                    linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
-                                    linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
-                                    omega * drive.getMaxAngularSpeedRadPerSec(),
-                                    isFlipped
-                                            ? drive.getRotation().plus(new Rotation2d(Math.PI))
-                                            : drive.getRotation()));
+                    final Rotation2d driverStationFacing = switch (DriverStation.getAlliance().orElse(Alliance.Red)) {
+                        case Red -> new Rotation2d(Math.PI);
+                        case Blue -> new Rotation2d(0);
+                    };
+                    drive.runVelocity(ChassisSpeeds.fromFieldRelativeSpeeds(
+                            linearVelocity.getX() * drive.maxModuleVelocityMetersPerSec,
+                            linearVelocity.getY() * drive.maxModuleVelocityMetersPerSec,
+                            omega * drive.maxAngularVelocityRadPerSec,
+                            drive.getPose().getRotation().minus(driverStationFacing)
+                    ));
                 },
                 drive);
     }

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -30,7 +30,7 @@
 import org.littletonrobotics.junction.Logger;
 
 public class Drive extends MapleSubsystem {
-    private final double maxModuleVelocityMetersPerSec, maxAngularVelocityRadPerSec;
+    public final double maxModuleVelocityMetersPerSec, maxAngularVelocityRadPerSec;
     private final GyroIO gyroIO;
     private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged();
     private final OdometryThreadInputsAutoLogged odometryThreadInputs;

src/main/java/frc/robot/subsystems/drive/ModuleIO.java

@@ -51,5 +51,5 @@ default void setDriveBrakeMode(boolean enable) {}
     /**
      * Enable or disable brake mode on the turn motor.
      */
-    default void setTurnBrakeMode(boolean enable) {}
+    default void setSteerBrakeMode(boolean enable) {}
 }

src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java

@@ -171,7 +171,7 @@ public void setDriveBrakeMode(boolean enable) {
     }
 
     @Override
-    public void setTurnBrakeMode(boolean enable) {
+    public void setSteerBrakeMode(boolean enable) {
         steerSparkMax.setIdleMode(enable ? IdleMode.kBrake : IdleMode.kCoast);
     }
 }

src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java

@@ -10,28 +10,14 @@
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
 import frc.robot.Constants;
 import frc.robot.utils.Config.MapleConfigFile;
-import org.littletonrobotics.junction.Logger;
 
 import java.util.Queue;
 
-/**
- * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and
- * CANcoder
- *
- * <p>NOTE: This implementation should be used as a starting point and adapted to different hardware
- * configurations (e.g. If using an analog encoder, copy from "ModuleIOSparkMax")
- *
- * <p>To calibrate the absolute encoder offsets, point the modules straight (such that forward
- * motion on the drive motor will propel the robot forward) and copy the reported values from the
- * absolute encoders using AdvantageScope. These values are logged under
- * "/Drive/ModuleX/TurnAbsolutePositionRad"
- */
 public class ModuleIOTalonFX implements ModuleIO {
     private final String name;
     private final TalonFX driveTalon;
@@ -67,7 +53,7 @@ public ModuleIOTalonFX(MapleConfigFile.ConfigBlock moduleConfigs, MapleConfigFil
         steerConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
         steerTalon.getConfigurator().apply(steerConfig);
         steerTalon.setInverted(moduleConfigs.getIntConfig("steeringMotorInverted") != 0);
-        setTurnBrakeMode(true);
+        setSteerBrakeMode(true);
 
         driveEncoderUngearedRevolutions = OdometryThread.registerSignalInput(driveTalon.getPosition());
         driveEncoderUngearedRevolutionsPerSecond = driveTalon.getVelocity();
@@ -81,13 +67,9 @@ public ModuleIOTalonFX(MapleConfigFile.ConfigBlock moduleConfigs, MapleConfigFil
 
         periodicallyRefreshedSignals = new BaseStatusSignal[]{
                 driveEncoderUngearedRevolutionsPerSecond,
-                driveMotorAppliedVoltage,
-                driveMotorCurrent,
+                driveMotorAppliedVoltage, driveMotorCurrent,
                 steerEncoderVelocityRevolutionsPerSecond,
-                steerMotorAppliedVolts,
-                steerMotorAppliedVolts,
-                steerMotorAppliedVolts,
-                steerMotorCurrent
+                steerMotorAppliedVolts, steerMotorCurrent
         };
 
         BaseStatusSignal.setUpdateFrequencyForAll(50.0, periodicallyRefreshedSignals);
@@ -140,15 +122,11 @@ public void setSteerPower(double power) {
 
     @Override
     public void setDriveBrakeMode(boolean enable) {
-        var config = new MotorOutputConfigs();
-        config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast;
-        driveTalon.getConfigurator().apply(config);
+        driveTalon.setNeutralMode(enable ? NeutralModeValue.Brake : NeutralModeValue.Coast);
     }
 
     @Override
-    public void setTurnBrakeMode(boolean enable) {
-        var config = new MotorOutputConfigs();
-        config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast;
-        steerTalon.getConfigurator().apply(config);
+    public void setSteerBrakeMode(boolean enable) {
+        steerTalon.setNeutralMode(enable ? NeutralModeValue.Brake : NeutralModeValue.Coast);
     }
 }

src/main/java/frc/robot/subsystems/drive/SwerveModule.java

@@ -105,13 +105,13 @@ public void onDisable() {
         io.setSteerPower(0);
         io.setDrivePower(0);
         io.setDriveBrakeMode(false);
-        io.setTurnBrakeMode(false);
+        io.setSteerBrakeMode(false);
     }
 
     @Override
     public void onEnable() {
         io.setDriveBrakeMode(true);
-        io.setTurnBrakeMode(true);
+        io.setSteerBrakeMode(true);
     }
 
     /**

src/main/java/frc/robot/utils/Config/MapleConfigFile.java

@@ -35,14 +35,14 @@ private ConfigBlock(String blockName) {
         public double getDoubleConfig(String name) throws NullPointerException {
             if (!doubleConfigs.containsKey(name))
                 throw new NullPointerException(
-                        "Configuration not found for block: " + name + ", config: " + name + ", type: double");
+                        "Configuration not found for block: " + blockName + ", config: " + name + ", type: double");
             return doubleConfigs.get(name);
         }
 
         public int getIntConfig(String name) throws NullPointerException {
             if (!intConfigs.containsKey(name))
                 throw new NullPointerException(
-                        "Configuration not found for block: " + name + ", config: " + name + ", type: int");
+                        "Configuration not found for block: " + blockName + ", config: " + name + ", type: int");
             return intConfigs.get(name);
         }