Update Turret.java

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 5ac76d4c6d2b3ba4fa38872877a7817f9845c59a..b6e2eccdf43730e9a506188f48668ef28a81006e 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -2,6 +2,7 @@ package frc.robot.subsystems.turret;
 
 import org.littletonrobotics.junction.Logger;
 
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.MotionMagicDutyCycle;
@@ -123,13 +124,7 @@ public class Turret extends SubsystemBase implements TurretIO{
         motionMagicConfigs.MotionMagicCruiseVelocity = 10 * GEAR_RATIO;
         motionMagicConfigs.MotionMagicAcceleration = 50 * GEAR_RATIO;
         motor.getConfigurator().apply(config);
-
-               motor.getConfigurator().apply(
-                               new com.ctre.phoenix6.configs.TalonFXConfiguration() {
-                                       {
-                                               MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-                                       }
-                               });
+               motor.getConfigurator().apply(new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive));
 
                // profile = new TrapezoidProfile(new Constraints(MAX_VEL_RAD_PER_SEC, feedForward.maxAchievableAcceleration(DCMotor.getKrakenX60(1, GEAR_RATIO), goalVelocityRadPerSec))))