fix: fix Arm and IntakeWheel subsys

Author: AvidCoder27

src/main/java/frc/team5115/RobotContainer.java

@@ -231,7 +231,7 @@ public void robotPeriodic() {
             }
             faultPrintTimeout -= 1;
             Logger.recordOutput("HasFaults", hasFaults);
-            Logger.recordOutput("ClearForMatch",!hasFaults);
+            Logger.recordOutput("ClearForMatch", !hasFaults);
         }
     }
 

src/main/java/frc/team5115/subsystems/arm/Arm.java

@@ -17,6 +17,7 @@ public class Arm extends SubsystemBase {
     private final ArmIOInputsAutoLogged inputs = new ArmIOInputsAutoLogged();
     private final ArmFeedforward feedforward;
     private final PIDController pid;
+    private final double ks;
 
     public Arm(ArmIO io) {
         this.io = io;
@@ -26,14 +27,17 @@ public Arm(ArmIO io) {
             case REPLAY:
                 feedforward = new ArmFeedforward(0.3, 0.35, 0.13509, 0.048686);
                 pid = new PIDController(0.405, 0.0, 0.0);
+                ks = 0.3;
                 break;
             case SIM:
                 feedforward = new ArmFeedforward(0.0, 0.35, 0.1351, 0.0);
                 pid = new PIDController(0.5, 0.0, 0.0);
+                ks = 0.3;
                 break;
             default:
                 feedforward = new ArmFeedforward(0.0, 0.0, 0, 0.0);
                 pid = new PIDController(0.0, 0.0, 0.0);
+                ks = 0.3;
                 break;
         }
 
@@ -57,7 +61,7 @@ public void periodic() {
         double voltage = feedforward.calculate(inputs.armAngle.getRadians(), speed);
         voltage = MathUtil.clamp(voltage, -10, +10);
 
-        if (Math.abs(voltage) < 2 * feedforward.ks) {
+        if (Math.abs(voltage) < 2 * ks) {
             voltage = 0;
         }
 

src/main/java/frc/team5115/subsystems/intake-wheel/IntakeWheel.java renamed to src/main/java/frc/team5115/subsystems/intakewheel/IntakeWheel.java

@@ -11,9 +11,9 @@
 public class IntakeWheel extends SubsystemBase {
     private static final double INTAKE_SPEED = 0.15;
     private final IntakeWheelIO io;
-    private final IntakeWheelIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged();
+    private final IntakeWheelIOInputsAutoLogged inputs = new IntakeWheelIOInputsAutoLogged();
 
-    public IntakeWheel(IntakeIO io) {
+    public IntakeWheel(IntakeWheelIO io) {
         this.io = io;
     }