From 9362d4389fe838757f8de94f4c17e5994c8adba0 Mon Sep 17 00:00:00 2001
From: Michael Mikovsky <shikharemail8@gmail.com>
Date: Fri, 27 Feb 2026 20:38:24 -0800
Subject: [PATCH] Fix with angular

---
 .../java/frc4388/robot/subsystems/intake/IntakeIO.java    | 8 ++++----
 .../java/frc4388/robot/subsystems/intake/IntakeReal.java  | 5 ++---
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
index c619182..de7aeec 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
@@ -8,6 +8,8 @@ import org.littletonrobotics.junction.AutoLog;
 
 import edu.wpi.first.units.measure.Acceleration;
 import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.units.measure.Velocity;
 
@@ -19,10 +21,8 @@ public interface IntakeIO {
         Angle armTargetAngle = Rotations.of(0);
         Current armMotorCurrent = Amps.of(0);
 
-        @SuppressWarnings("rawtypes")
-        Velocity armMotorVelocity;
-        @SuppressWarnings("rawtypes")
-        Acceleration armMotorAcceleration;
+        AngularVelocity armMotorVelocity;
+        AngularAcceleration armMotorAcceleration;
 
         // Angle shooterPitch = Rotations.of(0);
         // Angle shooterTargetPitch = Rotations.of(0);
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
index 20e56ad..b99bbaf 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
@@ -128,7 +128,6 @@ public class IntakeReal implements IntakeIO {
             );
     }
 
-    @SuppressWarnings("rawtypes")
     @Override
     public void updateInputs(IntakeState state) {
         state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
@@ -137,8 +136,8 @@ public class IntakeReal implements IntakeIO {
         state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
         state.retractedLimit = !m_armLimitSwitch.get();
         
-        // state.armMotorVelocity = (Velocity) m_armMotor.getVelocity();
-        // state.armMotorAcceleration = (Acceleration) m_armMotor.getAcceleration();
+        state.armMotorVelocity = m_armMotor.getVelocity().getValue();
+        state.armMotorAcceleration = m_armMotor.getAcceleration().getValue();
 
         if(state.retractedLimit) {
             // Set the arm motor to be zero if the limit switch is pressed