Can IDs

src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java

@@ -58,13 +58,13 @@ public ModuleIOSparkMax(int index) {
         absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
         break;
       case 1:
-        driveSparkMax = new CANSparkMax(3, MotorType.kBrushless);
-        turnSparkMax = new CANSparkMax(4, MotorType.kBrushless);
+        driveSparkMax = new CANSparkMax(9, MotorType.kBrushless);
+        turnSparkMax = new CANSparkMax(10, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(1);
         absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
         break;
       case 2:
-        driveSparkMax = new CANSparkMax(5, MotorType.kBrushless);
+        driveSparkMax = new CANSparkMax(4, MotorType.kBrushless);
         turnSparkMax = new CANSparkMax(6, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(2);
         absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED

src/main/java/frc/robot/subsystems/intake/IntakeConstants.java

@@ -1,7 +1,7 @@
 package frc.robot.subsystems.intake;
 
 public class IntakeConstants {
-  public static final int CanID = 2; // ..
+  public static final int CanID = 5; // ..
   public static final int currentLimit = 40; // vortex
   public static final int current = 10; // ..
 }

src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java

@@ -8,33 +8,23 @@
 import edu.wpi.first.math.controller.PIDController;
 
 public class PivotIOReal implements PivotIO {
-  private CANSparkFlex pivotLeft = new CANSparkFlex(10, MotorType.kBrushless);
-  private CANSparkFlex pivotRight = new CANSparkFlex(11, MotorType.kBrushless);
-  private RelativeEncoder pivotEncoderRight = pivotRight.getEncoder();
+  private CANSparkFlex pivotMotor = new CANSparkFlex(11, MotorType.kBrushless);
+  private RelativeEncoder pivotEncoderRight = pivotMotor.getEncoder();
   private PIDController pid = new PIDController(1.0, 0.0, 0.0);
 
   private boolean closedLoop = false;
   private double ffVolts = 0.0;
   private double appliedVolts = 0.0;
 
   public PivotIOReal() {
-    pivotLeft.restoreFactoryDefaults();
-    pivotRight.restoreFactoryDefaults();
-
-    pivotLeft.follow(pivotRight);
-    pivotLeft.setInverted(true);
-
-    pivotLeft.setCANTimeout(250);
-    pivotRight.setCANTimeout(250);
-    pivotLeft.enableVoltageCompensation(12);
-    pivotRight.enableVoltageCompensation(12);
-    pivotLeft.setSmartCurrentLimit(80);
-    pivotRight.setSmartCurrentLimit(80);
-    pivotLeft.setIdleMode(IdleMode.kBrake);
-    pivotRight.setIdleMode(IdleMode.kBrake);
-
-    pivotLeft.burnFlash();
-    pivotRight.burnFlash();
+    pivotMotor.restoreFactoryDefaults();
+
+    pivotMotor.setCANTimeout(250);
+    pivotMotor.enableVoltageCompensation(12);
+    pivotMotor.setSmartCurrentLimit(80);
+    pivotMotor.setIdleMode(IdleMode.kBrake);
+
+    pivotMotor.burnFlash();
   }
 
   @Override
@@ -57,6 +47,6 @@ public void setAngle(double targetAngle) {
   @Override
   public void setVoltage(double volts) {
     appliedVolts = MathUtil.clamp(volts, -12, 12);
-    pivotRight.setVoltage(appliedVolts);
+    pivotMotor.setVoltage(appliedVolts);
   }
 }