From 7c071041850824a24f844161f49b8016c9b1b145 Mon Sep 17 00:00:00 2001
From: nbhog <146785661+nbhog@users.noreply.github.com>
Date: Tue, 23 Jan 2024 18:32:44 -0500
Subject: [PATCH] fixed more problems

---
 .../robot2023/subsystems/elevator/ElevatorIOKraken.kt  | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOKraken.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOKraken.kt
index 2af4a0e0..bee4ac6d 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOKraken.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOKraken.kt
@@ -4,9 +4,9 @@ import com.ctre.phoenix6.StatusSignal
 import com.ctre.phoenix6.configs.Slot0Configs
 import com.ctre.phoenix6.configs.TalonFXConfiguration
 import com.ctre.phoenix6.controls.PositionDutyCycle
+import com.ctre.phoenix6.controls.PositionVoltage
 import com.ctre.phoenix6.hardware.TalonFX
 import com.ctre.phoenix6.signals.NeutralModeValue
-import com.team4099.lib.phoenix6.PositionVoltage
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.ElevatorConstants
 import com.team4099.robot2023.subsystems.falconspin.Falcon500
@@ -26,6 +26,7 @@ import org.team4099.lib.units.derived.IntegralGain
 import org.team4099.lib.units.derived.ProportionalGain
 import org.team4099.lib.units.derived.Volt
 import org.team4099.lib.units.derived.inVolts
+import org.team4099.lib.units.derived.rotations
 import org.team4099.lib.units.derived.volts
 
 object ElevatorIOKraken : ElevatorIO {
@@ -34,14 +35,14 @@ object ElevatorIOKraken : ElevatorIO {
   private val leaderSensor =
     ctreLinearMechanismSensor(
       elevatorLeaderKraken,
-      ElevatorConstants.GEAR_RATIO,
+      ElevatorConstants.ELEVATOR_PULLEY_TO_MOTOR,
       ElevatorConstants.SPOOL_DIAMETER,
       ElevatorConstants.VOLTAGE_COMPENSATION
     )
   private val followerSensor =
     ctreLinearMechanismSensor(
       elevatorLeaderKraken,
-      ElevatorConstants.GEAR_RATIO,
+      ElevatorConstants.ELEVATOR_PULLEY_TO_MOTOR,
       ElevatorConstants.SPOOL_DIAMETER,
       ElevatorConstants.VOLTAGE_COMPENSATION
     )
@@ -168,8 +169,9 @@ object ElevatorIOKraken : ElevatorIO {
     elevatorLeaderKraken.setControl(
       PositionVoltage(
         leaderSensor.getRawPosition(),
+        0.0,
         true,
-        feedForward,
+        feedForward.inVolts,
         0,
         false,
         false,