made drive motors use spark flexes

Author: timtogan

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

@@ -11,11 +11,13 @@
 // import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.hardware.CANcoder;
+import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkFlexConfig;
 import com.revrobotics.spark.config.SparkMaxConfig;
 
 import edu.wpi.first.math.MathUtil;
@@ -47,10 +49,11 @@ public enum ModuleType {FL, FR, BL, BR};
 
     private SwerveConfig config;
     private SparkMaxConfig turnConfig = new SparkMaxConfig();
-    private SparkMaxConfig driveConfig = new SparkMaxConfig();
+    private SparkFlexConfig driveConfig = new SparkFlexConfig();
 
     private ModuleType type;
-    private SparkMax drive, turn;
+    private SparkFlex drive;
+    private SparkMax turn;
     private CANcoder turnEncoder;
     private PIDController drivePIDController;
     private ProfiledPIDController turnPIDController;
@@ -65,7 +68,7 @@ public enum ModuleType {FL, FR, BL, BR};
 
     private double turnSpeedCorrectionVolts, turnFFVolts, turnVolts;
     private double maxTurnVelocityWithoutTippingRps;
-    public SwerveModule(SwerveConfig config, ModuleType type, SparkMax drive, SparkMax turn, CANcoder turnEncoder,
+    public SwerveModule(SwerveConfig config, ModuleType type, SparkFlex drive, SparkMax turn, CANcoder turnEncoder,
                         int arrIndex, Supplier<Float> pitchDegSupplier, Supplier<Float> rollDegSupplier) {
         //SmartDashboard.putNumber("Target Angle (deg)", 0.0);
         String moduleString = type.toString();
@@ -434,15 +437,13 @@ public void toggleMode() {
     }
 
     public void brake() {
-        SparkBaseConfig config = new SparkMaxConfig().idleMode(IdleMode.kBrake);
-        drive.configure(config, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
-        turn .configure(config, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
+        drive.configure(new SparkFlexConfig().idleMode(IdleMode.kBrake), ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
+        turn .configure(new SparkMaxConfig().idleMode(IdleMode.kBrake), ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
     }
 
     public void coast() {
-        SparkBaseConfig config = new SparkMaxConfig().idleMode(IdleMode.kCoast);
-        drive.configure(config, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
-        turn .configure(config, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
+        drive.configure(new SparkFlexConfig().idleMode(IdleMode.kCoast), ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
+        turn .configure(new SparkMaxConfig().idleMode(IdleMode.kCoast), ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
     }
 
     /**