From 3215b5f109580e98b38995937e62de430253d9fe Mon Sep 17 00:00:00 2001
From: iefomit <108955303+iefomit@users.noreply.github.com>
Date: Sun, 23 Aug 2026 21:35:27 -0700
Subject: [PATCH] few more fixes

---
 .../java/frc/robot/subsystems/drivetrain/Module.java |  4 ++--
 .../java/frc/robot/util/DynamicSlewRateLimiter.java  | 12 ++++++------
 src/main/java/frc/robot/util/MotorFactory.java       |  2 +-
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Module.java b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
index 634fd2d..9caf1d6 100644
--- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
@@ -371,7 +371,7 @@ public class Module implements ModuleIO {
     angleMotor
         .getConfigurator()
         .apply(new MotorOutputConfigs().withInverted(DriveConstants.INVERT_STEER_MOTOR));
-    angleMotor.setNeutralMode(DriveConstants.STEER_NEUTRAL_MODE);
+    angleMotor.configNeutralMode(DriveConstants.STEER_NEUTRAL_MODE);
     angleMotor.setPosition(0);
 
     // optimize bus utilization for angle motor
@@ -475,7 +475,7 @@ public class Module implements ModuleIO {
         .apply(
             new ClosedLoopRampsConfigs()
                 .withDutyCycleClosedLoopRampPeriod(DriveConstants.CLOSE_LOOP_RAMP));
-    driveMotor.setNeutralMode(DriveConstants.DRIVE_NEUTRAL_MODE);
+    driveMotor.configNeutralMode(DriveConstants.DRIVE_NEUTRAL_MODE);
 
     // optimize bus utilization for drive motor
     driveMotor.optimizeBusUtilization();
diff --git a/src/main/java/frc/robot/util/DynamicSlewRateLimiter.java b/src/main/java/frc/robot/util/DynamicSlewRateLimiter.java
index 0d1b0ae..886e6f1 100644
--- a/src/main/java/frc/robot/util/DynamicSlewRateLimiter.java
+++ b/src/main/java/frc/robot/util/DynamicSlewRateLimiter.java
@@ -77,15 +77,15 @@ public class DynamicSlewRateLimiter {
     prevTime = currentTime;
 
     double change =
-        MathUtil.clamp(
-            input - prevVal, negativeRateLimit * elapsedTime, positiveRateLimit * elapsedTime);
+        Math.max(
+            negativeRateLimit * elapsedTime, Math.min(positiveRateLimit * elapsedTime, input - prevVal));
 
     if (continuous) {
       change =
-          MathUtil.clamp(
-              MathUtil.inputModulus(input - prevVal, lowerContinuousLimit, upperContinuousLimit),
-              negativeRateLimit * elapsedTime,
-              positiveRateLimit * elapsedTime);
+          Math.max(
+              negativeRateLimit * elapsedTime, 
+              Math.min(positiveRateLimit * elapsedTime,
+              MathUtil.inputModulus(input - prevVal, lowerContinuousLimit, upperContinuousLimit)));
 
       prevVal += change;
 
diff --git a/src/main/java/frc/robot/util/MotorFactory.java b/src/main/java/frc/robot/util/MotorFactory.java
index 89c7a77..3a179b4 100644
--- a/src/main/java/frc/robot/util/MotorFactory.java
+++ b/src/main/java/frc/robot/util/MotorFactory.java
@@ -113,7 +113,7 @@ public class MotorFactory {
     config.Voltage = new VoltageConfigs().withPeakForwardVoltage(Constants.ROBOT_VOLTAGE);
 
     talon.getConfigurator().apply(config);
-    talon.setNeutralMode(NeutralModeValue.Brake);
+    talon.configNeutralMode(NeutralModeValue.Brake);
 
     return talon;
   }
-- 
2.47.3