Changed to fxs

Author: BB7209

src/main/java/frc/robot/constants/FunnelConstants.java

@@ -4,7 +4,7 @@
 import com.ctre.phoenix6.configs.HardwareLimitSwitchConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.configs.TalonFXSConfiguration;
 import com.ctre.phoenix6.signals.ForwardLimitSourceValue;
 import com.ctre.phoenix6.signals.ForwardLimitTypeValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
@@ -14,10 +14,10 @@
 public class FunnelConstants {
     public static final double kFunnelPercentOutput = 0;
 
-    public static int FunnelFxId = 0;
+    public static int FunnelFxsId = 0;
 
-    public static TalonFXConfiguration getFXConfig() {
-        TalonFXConfiguration fxConfig = new TalonFXConfiguration();
+    public static TalonFXSConfiguration getFXSConfig() {
+        TalonFXSConfiguration fxsConfig = new TalonFXSConfiguration();
 
         CurrentLimitsConfigs current =
             new CurrentLimitsConfigs()
@@ -28,7 +28,7 @@ public static TalonFXConfiguration getFXConfig() {
                 .withSupplyCurrentLowerLimit(8)
                 .withSupplyCurrentLowerTime(0.02)
                 .withSupplyCurrentLimitEnable(true);
-        fxConfig.CurrentLimits = current;
+        fxsConfig.CurrentLimits = current;
 
         HardwareLimitSwitchConfigs hwLimit =
             new HardwareLimitSwitchConfigs()
@@ -40,20 +40,20 @@ public static TalonFXConfiguration getFXConfig() {
                 .withReverseLimitEnable(false)
                 .withReverseLimitType(ReverseLimitTypeValue.NormallyOpen)
                 .withReverseLimitSource(ReverseLimitSourceValue.LimitSwitchPin);
-        fxConfig.HardwareLimitSwitch = hwLimit;
+        fxsConfig.HardwareLimitSwitch = hwLimit;
 
         SoftwareLimitSwitchConfigs swLimit =
             new SoftwareLimitSwitchConfigs()
                 .withForwardSoftLimitEnable(false)
                 .withReverseSoftLimitEnable(false);
-        fxConfig.SoftwareLimitSwitch = swLimit;
+        fxsConfig.SoftwareLimitSwitch = swLimit;
 
         MotorOutputConfigs motorOut =
             new MotorOutputConfigs()
                 .withDutyCycleNeutralDeadband(0.01)
                 .withNeutralMode(NeutralModeValue.Coast);
-        fxConfig.MotorOutput = motorOut;
+        fxsConfig.MotorOutput = motorOut;
 
-        return fxConfig;
+        return fxsConfig;
     }
 }

src/main/java/frc/robot/subsystems/funnel/FunnelIOFX.java renamed to src/main/java/frc/robot/subsystems/funnel/FunnelIOFXS.java

@@ -5,44 +5,44 @@
 import org.strykeforce.telemetry.TelemetryService;
 
 import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.configs.TalonFXConfigurator;
+import com.ctre.phoenix6.configs.TalonFXSConfiguration;
+import com.ctre.phoenix6.configs.TalonFXSConfigurator;
 import com.ctre.phoenix6.controls.DutyCycleOut;
-import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.hardware.TalonFXS;
 import com.ctre.phoenix6.signals.ReverseLimitValue;
 
 import edu.wpi.first.units.measure.AngularVelocity;
 import frc.robot.constants.FunnelConstants;
 
-public class FunnelIOFX implements FunnelIo{
+public class FunnelIOFXS implements FunnelIo{
     // Private Objects
     private Logger logger;
-    private TalonFX talonfx;
+    private TalonFXS talonfxs;
 
     // FX Acces Objects
-    TalonFXConfigurator configurator;
+    TalonFXSConfigurator configurator;
     StatusSignal<AngularVelocity> curVelocity;
     StatusSignal<ReverseLimitValue> curRevLimit;
 
     private DutyCycleOut dutyCycleRequest = new DutyCycleOut(0.0).withEnableFOC(false);
 
-    public FunnelIOFX() {
+    public FunnelIOFXS() {
         logger = LoggerFactory.getLogger(this.getClass());
-        talonfx = new TalonFX(FunnelConstants.FunnelFxId);
+        talonfxs = new TalonFXS(FunnelConstants.FunnelFxsId);
 
         // Config controller
-        configurator = talonfx.getConfigurator();
-        configurator.apply(new TalonFXConfiguration());
-        configurator.apply(FunnelConstants.getFXConfig());
+        configurator = talonfxs.getConfigurator();
+        configurator.apply(new TalonFXSConfiguration());
+        configurator.apply(FunnelConstants.getFXSConfig());
 
         // Attach status signals
-        curVelocity = talonfx.getVelocity();
-        curRevLimit = talonfx.getReverseLimit();
+        curVelocity = talonfxs.getVelocity();
+        curRevLimit = talonfxs.getReverseLimit();
     }
 
     @Override
     public void setPct(double percentOutput){
-        talonfx.setControl(dutyCycleRequest.withOutput(percentOutput));
+        talonfxs.setControl(dutyCycleRequest.withOutput(percentOutput));
     }
 
     @Override
@@ -53,6 +53,6 @@ public void updateInputs(FunnelIoInputs inputs) {
 
     @Override
     public void registerWith(TelemetryService telemetryService) {
-        telemetryService.register(talonfx, true);
+        telemetryService.register(talonfxs, true);
     }
 }

src/main/java/frc/robot/subsystems/funnel/FunnelSubsystem.java

@@ -9,7 +9,7 @@
 
 import frc.robot.constants.FunnelConstants;
 import frc.robot.standards.OpenLoopSubsystem;
-import frc.robot.subsystems.example.ExampleIOInputsAutoLogged;
+import frc.robot.subsystems.funnel.FunnelIOInputsAutoLogged;
 
 public class FunnelSubsystem extends MeasurableSubsystem implements OpenLoopSubsystem{
 
@@ -47,7 +47,7 @@ public void periodic() {
             }
 
             if(totalBreaks >= 3){
-                curState = FunnelState.HasNotSeenCoral;
+                curState = FunnelState.HasSeenCoral;
             }
                 break;
         }

vendordeps/thirdcoast.json

@@ -1,7 +1,7 @@
 {
     "fileName": "thirdcoast.json",
     "name": "StrykeForce-ThirdCoast",
-    "version": "25.0.0",
+    "version": "25.0.1",
     "uuid": "13c4f4b5-a1c0-4670-8f8d-b7b03628c0d3",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "org.strykeforce",
             "artifactId": "thirdcoast",
-            "version": "25.0.0"
+            "version": "25.0.1"
         }
     ],
     "jniDependencies": [],