Actually the Flywheel is supposed to use FXS

Author: judsonjames

src/main/java/frc/robot/RobotContainer.java

@@ -13,6 +13,7 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import frc.robot.bobot_state.BobotState;
@@ -119,8 +120,8 @@ private void configureButtonBindings() {
         .onTrue(superStructure.setModeCommand(SuperStructureModes.MANUAL));
     // controller.start().and(superStructure.isTurretAligned()).onTrue(superStructure.shootCommand());
 
-    controller.povUp().onTrue(superStructure.setFlywheelVelocity(10));
-    controller.povDown().onTrue(superStructure.setFlywheelVelocity(-10));
+    controller.povUp().onTrue(superStructure.setFlywheelVelocity(Units.feetToMeters(1)));
+    controller.povDown().onTrue(superStructure.setFlywheelVelocity(Units.feetToMeters(-1)));
     controller.povLeft().onTrue(superStructure.setFlywheelVoltage(-6));
     controller.povRight().onTrue(superStructure.setFlywheelVoltage(6));
   }

src/main/java/frc/robot/subsystems/rollers/single/SingleRollerIOTalonFXSim.java

@@ -16,6 +16,7 @@ public class SingleRollerIOTalonFXSim extends SingleRollerIOTalonFX {
   /** Motion Magic does _not_ work in Sim, so we use Position Voltage in the meantime */
   private final PositionVoltage positionVoltage;
 
+  /** Motion Magic does _not_ work in Sim, so we use Velocity Voltage in the meantime */
   private final VelocityVoltage velocityVoltage;
 
   public SingleRollerIOTalonFXSim(

src/main/java/frc/robot/subsystems/superstructure/SuperStructure.java

@@ -15,7 +15,8 @@
 import frc.robot.subsystems.rollers.single.SingleRollerIO;
 import frc.robot.subsystems.rollers.single.SingleRollerIOSim;
 import frc.robot.subsystems.rollers.single.SingleRollerIOTalonFX;
-import frc.robot.subsystems.rollers.single.SingleRollerIOTalonFXSim;
+import frc.robot.subsystems.rollers.single.SingleRollerIOTalonFXS;
+import frc.robot.subsystems.rollers.single.SingleRollerIOTalonFXSSim;
 import frc.robot.subsystems.superstructure.turret.Turret;
 import frc.robot.subsystems.superstructure.turret.TurretConstants;
 import java.util.function.DoubleSupplier;
@@ -49,7 +50,7 @@ public SuperStructure() {
                 TurretConstants.gains,
                 TurretConstants.mmConfig);
         flywheelIO =
-            new SingleRollerIOTalonFX(
+            new SingleRollerIOTalonFXS(
                 FlywheelConstants.canId,
                 FlywheelConstants.reduction,
                 FlywheelConstants.currentLimitAmps,
@@ -70,7 +71,7 @@ public SuperStructure() {
                 TurretConstants.mmConfig,
                 new EmptyFeedforwardController());
         flywheelIO =
-            new SingleRollerIOTalonFXSim(
+            new SingleRollerIOTalonFXSSim(
                 FlywheelConstants.canId,
                 FlywheelConstants.reduction,
                 FlywheelConstants.currentLimitAmps,