Unifying left and right definitions

components/intake.py

@@ -1,5 +1,5 @@
 from magicbot import tunable, will_reset_to
-from phoenix5 import ControlMode, TalonSRX
+from phoenix5 import ControlMode, FollowerType, TalonSRX
 from rev import SparkMax, SparkMaxConfig
 
 from ids import SparkId, TalonId
@@ -19,12 +19,12 @@ def __init__(self) -> None:
         self.motor = SparkMax(SparkId.INTAKE, SparkMax.MotorType.kBrushless)
         self.left_funnel_motor = TalonSRX(TalonId.LEFT_FUNNEL)
         self.right_funnel_motor = TalonSRX(TalonId.RIGHT_FUNNEL)
-        motor_config = SparkMaxConfig()
-        motor_config.inverted(False)
-        motor_config.setIdleMode(SparkMaxConfig.IdleMode.kCoast)
+
         self.left_funnel_motor.setInverted(True)
         self.right_funnel_motor.setInverted(True)
 
+        motor_config = SparkMaxConfig()
+        motor_config.setIdleMode(SparkMaxConfig.IdleMode.kCoast)
         configure_spark_ephemeral(self.motor, motor_config)
 
     def intake(self) -> None:
@@ -34,4 +34,6 @@ def intake(self) -> None:
     def execute(self) -> None:
         self.motor.set(self.desired_output)
         self.left_funnel_motor.set(ControlMode.PercentOutput, self.desired_funnel)
-        self.right_funnel_motor.set(ControlMode.PercentOutput, self.desired_funnel)
+        self.right_funnel_motor.follow(
+            self.left_funnel_motor, FollowerType(ControlMode.PercentOutput)
+        )

components/shooter.py

@@ -1,9 +1,8 @@
 from magicbot import tunable, will_reset_to
 from phoenix5 import ControlMode, TalonSRX
 from phoenix6 import configs, controls
-from phoenix6.controls import Follower
 from phoenix6.hardware import TalonFX
-from phoenix6.signals import MotorAlignmentValue
+from phoenix6.signals import InvertedValue, MotorAlignmentValue
 
 from ids import TalonId
 
@@ -16,14 +15,9 @@ class ShooterComponent:
     desired_feeder_percentage = tunable(1)
 
     def __init__(self) -> None:
-        self.flywheel_motor_left = TalonFX(
-            device_id=TalonId.FLYWHEEL_LEFT
-        )  # Defined from behind shooter
-        self.flywheel_motor_right = TalonFX(
-            device_id=TalonId.FLYWHEEL_RIGHT
-        )  # Defined from behind shooter
+        self.flywheel_motor_left = TalonFX(TalonId.FLYWHEEL_LEFT)
+        self.flywheel_motor_right = TalonFX(TalonId.FLYWHEEL_RIGHT)
         self.feeder_motor = TalonSRX(TalonId.FEEDER)
-        self.feeder_motor.setInverted(False)
 
         gains_cfg = (
             configs.Slot0Configs()
@@ -36,7 +30,13 @@ def __init__(self) -> None:
         )
 
         self.flywheel_motor_left.configurator.apply(
-            configs.TalonFXConfiguration().with_slot0(gains_cfg)
+            configs.TalonFXConfiguration()
+            .with_slot0(gains_cfg)
+            .with_motor_output(
+                configs.MotorOutputConfigs().with_inverted(
+                    InvertedValue.COUNTER_CLOCKWISE_POSITIVE
+                )
+            )
         )
 
     def shoot(self) -> None:
@@ -48,9 +48,8 @@ def execute(self) -> None:
             controls.VelocityVoltage(self.target_shooter_rps)
         )
         self.flywheel_motor_right.set_control(
-            Follower(
+            controls.Follower(
                 TalonId.FLYWHEEL_LEFT, MotorAlignmentValue(MotorAlignmentValue.OPPOSED)
             )
         )
-
         self.feeder_motor.set(ControlMode.PercentOutput, self.target_feeder_percentage)

ids.py

@@ -17,12 +17,12 @@ class TalonId(enum.IntEnum):
     DRIVE_FR = 4
     STEER_FR = 8
 
-    FLYWHEEL_LEFT = 9
-    FLYWHEEL_RIGHT = 10
+    FLYWHEEL_RIGHT = 9
+    FLYWHEEL_LEFT = 10
     FEEDER = 11
 
-    LEFT_FUNNEL = 12
-    RIGHT_FUNNEL = 13
+    LEFT_FUNNEL = 13
+    RIGHT_FUNNEL = 12
 
 
 @enum.unique