From cc7baea3534d3c591c1719243d5389ebc374c168 Mon Sep 17 00:00:00 2001
From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com>
Date: Thu, 4 Apr 2024 17:32:22 -0600
Subject: [PATCH] phoenix 6 pain

---
 .../robot/subsystems/SwerveModule.java        | 21 ++++++++++++-------
 .../utility/controller/VirtualController.java |  2 +-
 2 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index c98fc61..e3ba839 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -9,12 +9,13 @@ import javax.swing.text.StyleContext.SmallAttributeSet;
 import com.ctre.phoenix.ErrorCode;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
-import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
-import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
-import com.ctre.phoenix.sensors.CANCoder;
-import com.ctre.phoenix.sensors.SensorInitializationStrategy;
+// import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+// import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
+// import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+// import com.ctre.phoenix.sensors.CANCoder;
+// import com.ctre.phoenix.sensors.SensorInitializationStrategy;
 import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
 
@@ -29,7 +30,7 @@ import frc4388.utility.Gains;
 import frc4388.utility.configurable.ConfigurableDouble;
 
 public class SwerveModule extends SubsystemBase {
-    private WPI_TalonFX tal;
+    // private WPI_TalonFX tal;
     private TalonFX driveMotor;
     private TalonFX angleMotor;
     private CANcoder encoder;
@@ -46,7 +47,13 @@ public class SwerveModule extends SubsystemBase {
         // this.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
         this.selfid = swerveId;
          swerveId++;
-        TalonFXConfiguration angleConfig = new TalonFXConfiguration();
+        // TalonFXConfiguration angleConfig = new TalonFXConfiguration();
+        TalonFXConfiguration cfg = new TalonFXConfiguration()
+            .withSlot0(new Slot0Configs()
+                .withKP(swerveGains.kP)
+                .withKI(swerveGains.kI)
+                .withKD(swerveGains.kD)
+                )
         angleConfig.slot0.kP = swerveGains.kP;
         angleConfig.slot0.kI = swerveGains.kI;
         angleConfig.slot0.kD = swerveGains.kD;
diff --git a/src/main/java/frc4388/utility/controller/VirtualController.java b/src/main/java/frc4388/utility/controller/VirtualController.java
index 709bc1d..85adb64 100644
--- a/src/main/java/frc4388/utility/controller/VirtualController.java
+++ b/src/main/java/frc4388/utility/controller/VirtualController.java
@@ -39,7 +39,7 @@ public class VirtualController extends GenericHID {
         m_axes = new double[6];
         m_buttonStates = 0;
         m_buttonStatesLastFrame = 0;
-        m_pov = new short[1];
+        m_pov = new short[] {-1};
     }
 
     /**