Cache swerve module CANCoder feedback coefficients

- Add a proper logging system

src/main/java/frc4388/robot/subsystems/LED.java

@@ -4,10 +4,10 @@
 
 package frc4388.robot.subsystems;
 
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.util.logging.Logger;
 
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.utility.LEDPatterns;
 
@@ -27,7 +27,7 @@ public class LED extends SubsystemBase {
     m_LEDController = LEDController;
     setPattern(LEDConstants.DEFAULT_PATTERN);
     updateLED();
-    System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
+    Logger.getLogger(LED.class.getName()).finer("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
   }
 
   @Override

src/main/java/frc4388/robot/subsystems/SwerveModule.java

@@ -27,13 +27,14 @@ public class SwerveModule extends SubsystemBase {
 
   private static double kEncoderTicksPerRotation = 4096;
   private SwerveModuleState state;
-
+  private double canCoderFeedbackCoefficient;
 
   /** Creates a new SwerveModule. */
   public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) {
     this.driveMotor = driveMotor;
     this.angleMotor = angleMotor;
     this.canCoder = canCoder;
+    canCoderFeedbackCoefficient = canCoder.configGetFeedbackCoefficient();
 
     TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration();
 
@@ -82,7 +83,7 @@ public class SwerveModule extends SubsystemBase {
     // Find the new absolute position of the module based on the difference in rotation
     double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation;
     // Convert the CANCoder from it's position reading back to ticks
-    double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient();
+    double currentTicks = canCoder.getPosition() / canCoderFeedbackCoefficient;
     double desiredTicks = currentTicks + deltaTicks;
     if (!ignoreAngle){
       angleMotor.set(TalonFXControlMode.Position, desiredTicks);