From cee1d946fc18f8e62db0e70f3a4a28ed74cc4413 Mon Sep 17 00:00:00 2001
From: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Date: Thu, 5 Mar 2026 06:19:12 -0600
Subject: [PATCH] Added small flywheel fix and talonfx reorg.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
---
 yams/java/yams/mechanisms/velocity/FlyWheel.java          | 2 +-
 .../java/yams/motorcontrollers/remote/TalonFXWrapper.java | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/yams/java/yams/mechanisms/velocity/FlyWheel.java b/yams/java/yams/mechanisms/velocity/FlyWheel.java
index b24dc825..1ce61706 100644
--- a/yams/java/yams/mechanisms/velocity/FlyWheel.java
+++ b/yams/java/yams/mechanisms/velocity/FlyWheel.java
@@ -241,7 +241,7 @@ public <T> Command run(Supplier<T> velocity)
     {
       m_config.getCircumference(); // Circumference check
       return Commands.startRun(m_smc::startClosedLoopController,
-                               () -> m_config.getAngularVelocity((LinearVelocity) velocity.get()),
+                               () -> m_smc.setVelocity(m_config.getAngularVelocity((LinearVelocity) velocity.get())),
                                m_subsystem)
                      .withName(cmdName);
     }
diff --git a/yams/java/yams/motorcontrollers/remote/TalonFXWrapper.java b/yams/java/yams/motorcontrollers/remote/TalonFXWrapper.java
index 5965fac4..1df56551 100644
--- a/yams/java/yams/motorcontrollers/remote/TalonFXWrapper.java
+++ b/yams/java/yams/motorcontrollers/remote/TalonFXWrapper.java
@@ -1368,8 +1368,8 @@ public void setMechanismUpperLimit(Angle upperLimit)
     m_config.getMechanismLowerLimit().ifPresent(lowerLimit -> {
       m_config.withSoftLimit(lowerLimit, upperLimit);
     });
-    m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(upperLimit)
-                                     .withForwardSoftLimitEnable(true);
+    m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitEnable(true)
+                                     .withForwardSoftLimitThreshold(upperLimit);
     forceConfigApply();
   }
 
@@ -1379,8 +1379,8 @@ public void setMechanismLowerLimit(Angle lowerLimit)
     m_config.getMechanismUpperLimit().ifPresent(upperLimit -> {
       m_config.withSoftLimit(lowerLimit, upperLimit);
     });
-    m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(lowerLimit)
-                                     .withReverseSoftLimitEnable(true);
+    m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitEnable(true)
+                                     .withReverseSoftLimitThreshold(lowerLimit);
     forceConfigApply();
   }