SKib

Author: Baiulus

src/main/java/com/stuypulse/robot/subsystems/double_jointed_arm/DoubleJointedArmIOReal.java

@@ -47,12 +47,12 @@ public class DoubleJointedArmIOReal implements DoubleJointedArmIO {
 
     public DoubleJointedArmIOReal() {
         super();
-        shoulder = new TalonFX(Ports.DoubleJointedArm.SHOULDER_MOTOR);
-        shoulderEncoder = new CANcoder(Ports.DoubleJointedArm.SHOULDER_ENCODER);
-        shoulderFollower = new TalonFX(Ports.DoubleJointedArm.SHOULDER_FOLLOWER);
+        shoulder = new TalonFX(Ports.DoubleJointedArm.SHOULDER_MOTOR, "CANIVORE");
+        shoulderEncoder = new CANcoder(Ports.DoubleJointedArm.SHOULDER_ENCODER, "CANIVORE");
+        shoulderFollower = new TalonFX(Ports.DoubleJointedArm.SHOULDER_FOLLOWER, "CANIVORE");
 
-        elbow = new TalonFX(Ports.DoubleJointedArm.ELBOW_MOTOR);
-        elbowEncoder = new CANcoder(Ports.DoubleJointedArm.ELBOW_ENCODER);
+        elbow = new TalonFX(Ports.DoubleJointedArm.ELBOW_MOTOR, "CANIVORE");
+        elbowEncoder = new CANcoder(Ports.DoubleJointedArm.ELBOW_ENCODER, "CANIVORE");
 
         // Configs
         Devices.DoubleJointedArm.Shoulder.motor_config.configure(shoulder);

src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModuleImpl.java

@@ -39,7 +39,7 @@ public SwerveModuleImpl(String name, Translation2d location, Rotation2d angleOff
 
         pivotMotor = new SparkMax(pivotMotorID, MotorType.kBrushless);
         pivotMotor.configure(Devices.Swerve.Turn.motorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
-        pivotEncoder = new CANcoder(pivotEncoderID, "rio");
+        pivotEncoder = new CANcoder(pivotEncoderID, "CANIVORE");
 
         pivotController = new AnglePIDController(Gains.Swerve.Turn.kP, Gains.Swerve.Turn.kI, Gains.Swerve.Turn.kD);
     }

src/main/java/com/stuypulse/robot/subsystems/wrist/WristIOReal.java

@@ -27,10 +27,10 @@ public class WristIOReal implements WristIO {
 
     public WristIOReal() {
         super();
-        wrist = new TalonFX(Ports.Wrist.WRIST_MOTOR);
+        wrist = new TalonFX(Ports.Wrist.WRIST_MOTOR, "CANIVORE");
         Devices.Wrist.motor_config.configure(wrist);
 
-        encoder = new CANcoder(Ports.Wrist.WRIST_ENCODER);
+        encoder = new CANcoder(Ports.Wrist.WRIST_ENCODER, "CANIVORE");
         encoder.getConfigurator().apply(Devices.Wrist.cc_config);
 
         wrist.setPosition(encoder.getAbsolutePosition().getValueAsDouble()); // zero position