fix basic errors

build.gradle

@@ -83,7 +83,7 @@ dependencies {
 	simulationRelease wpi.sim.enableRelease()
 
 	implementation 'org.jetbrains.kotlin:kotlin-test-junit5'
-	implementation 'com.github.team4099:FalconUtils:1.1.28'
+	implementation 'com.github.team4099:FalconUtils:1.1.29'
 	implementation 'org.apache.commons:commons-collections4:4.0'
 	implementation 'com.google.code.gson:gson:2.10.1'
 	implementation "io.javalin:javalin:5.3.2"

src/main/kotlin/com/team4099/lib/phoenix6/PositionVoltage.kt

@@ -12,14 +12,14 @@ import org.team4099.lib.units.perSecond
 import com.ctre.phoenix6.controls.PositionVoltage as PositionVoltagePhoenix6
 
 class PositionVoltage(
-    var position: Angle, // Assuming an AngularPosition type exists similar to AngularVelocity
-    var enableFOC: Boolean = true,
-    var feedforward: ElectricalPotential = 0.0.volts,
-    var slot: Int = 0,
-    var overrideBrakeDurNeutral: Boolean = false,
-    var limitForwardMotion: Boolean = false,
-    var limitReverseMotion: Boolean = false,
-    var velocity: AngularVelocity = 0.0.degrees.perSecond,
+    private var position: Angle, // Assuming an AngularPosition type exists similar to AngularVelocity
+    private var enableFOC: Boolean = true,
+    private var feedforward: ElectricalPotential = 0.0.volts,
+    private var slot: Int = 0,
+    private var overrideBrakeDurNeutral: Boolean = false,
+    private var limitForwardMotion: Boolean = false,
+    private var limitReverseMotion: Boolean = false,
+    private var velocity: AngularVelocity = 0.0.degrees.perSecond
 ) {
 
     val positionVoltagePhoenix6 = PositionVoltagePhoenix6(position.inRotations, velocity.inRotationsPerSecond, enableFOC, feedforward.inVolts, slot, overrideBrakeDurNeutral, limitForwardMotion, limitReverseMotion)

src/main/kotlin/com/team4099/robot2023/BuildConstants.kt

@@ -6,10 +6,10 @@ package com.team4099.robot2023
 const val MAVEN_GROUP = ""
 const val MAVEN_NAME = "Crescendo-2024"
 const val VERSION = "unspecified"
-const val GIT_REVISION = 30
-const val GIT_SHA = "4abb5a7f1e6932895bda561c4716efc84f427d1e"
-const val GIT_DATE = "2024-01-19T19:51:08Z"
+const val GIT_REVISION = 83
+const val GIT_SHA = "127888ea2c738b8d88ce875b8543d24eb247383f"
+const val GIT_DATE = "2024-01-20T19:12:36Z"
 const val GIT_BRANCH = "shooter"
-const val BUILD_DATE = "2024-01-20T15:27:59Z"
-const val BUILD_UNIX_TIME = 1705782479283L
+const val BUILD_DATE = "2024-01-20T19:59:56Z"
+const val BUILD_UNIX_TIME = 1705798796502L
 const val DIRTY = 1

src/main/kotlin/com/team4099/robot2023/RobotContainer.kt

@@ -9,9 +9,6 @@ import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.drivetrain.drive.DrivetrainIO
 import com.team4099.robot2023.subsystems.drivetrain.drive.DrivetrainIOSim
 import com.team4099.robot2023.subsystems.drivetrain.gyro.GyroIO
-import com.team4099.robot2023.subsystems.intake.Intake
-import com.team4099.robot2023.subsystems.intake.IntakeIONEO
-import com.team4099.robot2023.subsystems.intake.IntakeIOSim
 import com.team4099.robot2023.subsystems.limelight.LimelightVision
 import com.team4099.robot2023.subsystems.limelight.LimelightVisionIO
 import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest as DrivetrainRequest
@@ -27,7 +24,6 @@ import org.team4099.lib.units.derived.degrees
 
 object RobotContainer {
   private val drivetrain: Drivetrain
-  private val intake: Intake
   private val vision: Vision
   private val limelight: LimelightVision
 
@@ -36,7 +32,6 @@ object RobotContainer {
       // Real Hardware Implementations
       // drivetrain = Drivetrain(object: GyroIO {},object: DrivetrainIO {}
       drivetrain = Drivetrain(object : GyroIO {}, object : DrivetrainIO {})
-      intake = Intake(IntakeIONEO)
       vision =
         Vision(
           //          object: CameraIO {}
@@ -51,7 +46,6 @@ object RobotContainer {
     } else {
       // Simulation implementations
       drivetrain = Drivetrain(object : GyroIO {}, DrivetrainIOSim)
-      intake = Intake(IntakeIOSim)
       vision =
         Vision(
           CameraIONorthstar("northstar_1"),

src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOTalon.kt

@@ -29,15 +29,15 @@ object FlywheelIOTalon : FlywheelIO{
     private val flywheelRightSensor =
         ctreAngularMechanismSensor(
             flywheelRightTalon,
-            FlywheelConstants.ROLLER_GEAR_RATIO,
+            FlywheelConstants.LEFT_GEAR_RATIO,
             FlywheelConstants.RIGHT_FLYWHEEL_VOLTAGE_COMPENSATION,
 
             )
 
     private val flywheelLeftSensor =
         ctreAngularMechanismSensor(
             flywheelLeftTalon,
-            FlywheelConstants.ROLLER_GEAR_RATIO,
+            FlywheelConstants.RIGHT_GEAR_RATIO,
             FlywheelConstants.LEFT_FLYWHEEL_VOLTAGE_COMPENSATION,
 
             )
@@ -62,18 +62,18 @@ object FlywheelIOTalon : FlywheelIO{
         flywheelLeftTalon.configurator.apply(flywheelLeftConfiguration)
 
         flywheelRightConfiguration.Slot0.kP =
-            flywheelRightSensor.proportionalVelocityGainToRawUnits(FlywheelConstants.SHOOTER_FLYWHEEL_KP)
+            flywheelRightSensor.proportionalVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KP)
         flywheelRightConfiguration.Slot0.kI =
-            flywheelRightSensor.integralVelocityGainToRawUnits(FlywheelConstants.SHOOTER_FLYWHEEL_KI)
+            flywheelRightSensor.integralVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KI)
         flywheelRightConfiguration.Slot0.kD =
-            flywheelRightSensor.derivativeVelocityGainToRawUnits(FlywheelConstants.SHOOTER_FLYWHEEL_KD)
+            flywheelRightSensor.derivativeVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KD)
 
         flywheelLeftConfiguration.Slot0.kP =
-            flywheelLeftSensor.proportionalVelocityGainToRawUnits(FlywheelConstants.SHOOTER_FLYWHEEL_KP)
+            flywheelLeftSensor.proportionalVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KP)
         flywheelRightConfiguration.Slot0.kI =
-            flywheelLeftSensor.integralVelocityGainToRawUnits(FlywheelConstants.SHOOTER_FLYWHEEL_KI)
+            flywheelLeftSensor.integralVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KI)
         flywheelRightConfiguration.Slot0.kD =
-            flywheelLeftSensor.derivativeVelocityGainToRawUnits(FlywheelConstants.SHOOTER_FLYWHEEL_KD)
+            flywheelLeftSensor.derivativeVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KD)
         //      flywheelSensor.velocityFeedforwardToRawUnits(FlywheelConstantsConstants.PID.flywheel_KFF)
 
         flywheelRightConfiguration.CurrentLimits.SupplyCurrentLimit =
@@ -191,13 +191,13 @@ object FlywheelIOTalon : FlywheelIO{
         inputs.rightFlywheelAppliedVoltage = rightFlywheelDutyCycle.value.volts
         inputs.rightFlywheelStatorCurrent = rightFlywheelStatorCurrentSignal.value.amps
         inputs.rightFlywheelSupplyCurrent = rightFlywheelSupplyCurrentSignal.value.amps
-        inputs.rightFlywheelTempreature = rightFlywheelTempSignal.value.celsius
+        inputs.rightFlywheelTemperature = rightFlywheelTempSignal.value.celsius
 
         inputs.leftFlywheelVelocity = flywheelLeftSensor.velocity
         inputs.leftFlywheelAppliedVoltage = leftFlywheelDutyCycle.value.volts
         inputs.leftFlywheelStatorCurrent = leftFlywheelStatorCurrentSignal.value.amps
         inputs.leftFlywheelSupplyCurrent = leftFlywheelSupplyCurrentSignal.value.amps
-        inputs.leftFlywheelTempreature = leftFlywheelTempSignal.value.celsius
+        inputs.leftFlywheelTemperature = leftFlywheelTempSignal.value.celsius
     }
 
     override fun setLeftFlywheelBrakeMode(brake: Boolean) {