From b330d4fffe211ee1cbc9f9298b8493f28fb84fde Mon Sep 17 00:00:00 2001
From: Matthew Choulas <MatthewChoulas@gmail.com>
Date: Tue, 5 Dec 2023 21:09:00 -0500
Subject: [PATCH] fix status frame implementation

---
 build.gradle                                       |  2 +-
 .../org/team4099/lib/units/MechanismUnits.kt       | 14 ++++++++++----
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/build.gradle b/build.gradle
index 5cbc9cf..488f7c1 100644
--- a/build.gradle
+++ b/build.gradle
@@ -39,7 +39,7 @@ publishing {
 		release(MavenPublication) {
 			groupId = 'org.team4099'
 			artifactId = 'falconutils'
-			version = '1.1.25'
+			version = '1.1.26'
 
 			from(components["kotlin"])
 		}
diff --git a/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt b/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
index 4eeeb66..c8881bc 100644
--- a/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
+++ b/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
@@ -310,14 +310,17 @@ fun ctreLinearMechanismSensor(
   diameter: Length,
   compensationVoltage: ElectricalPotential
 ): LinearMechanismSensor {
+  val velocitySignal = controller.velocity
+  val positionSignal = controller.velocity
+
   return LinearMechanismSensor(
     diameter,
     ratio,
     Timescale.PHOENIX_PRO,
     1.0,
     compensationVoltage,
-    { controller.velocity.value },
-    { controller.position.value },
+    { velocitySignal.value },
+    { positionSignal.value },
   )
 }
 
@@ -326,13 +329,16 @@ fun ctreAngularMechanismSensor(
   ratio: Double,
   compensationVoltage: ElectricalPotential
 ): AngularMechanismSensor {
+  val velocitySignal = controller.velocity
+  val positionSignal = controller.velocity
+
   return AngularMechanismSensor(
     ratio,
     Timescale.PHOENIX_PRO,
     1.0,
     compensationVoltage,
-    { controller.velocity.value },
-    { controller.position.value },
+    { velocitySignal.value },
+    { positionSignal.value },
   )
 }