update Wrist

src/main/java/frc/robot/subsystems/WristIntake.java

@@ -1,8 +1,7 @@
 package frc.robot.subsystems;
 
-import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix.motorcontrol.NeutralMode;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -12,7 +11,8 @@
  */
 public class WristIntake extends SubsystemBase {
 
-    private final WPI_TalonFX wristIntakeMotor = new WPI_TalonFX(Constants.Wrist.WRIST_INTAKE_ID);
+    private TalonFXConfiguration wristMotorConfig = new TalonFXConfiguration();
+    private final TalonFX wristIntakeMotor = new TalonFX(Constants.Wrist.WRIST_INTAKE_ID);
 
     private boolean invertForCone = true;
 
@@ -21,17 +21,20 @@ public class WristIntake extends SubsystemBase {
      */
     public WristIntake() {
         wristIntakeMotor.setInverted(false);
-        wristIntakeMotor.setNeutralMode(NeutralMode.Brake);
+        wristMotorConfig.MotorOutput.NeutralMode = Constants.Swerve.driveNeutralMode;
+        wristIntakeMotor.getConfigurator().apply(wristMotorConfig);
+
     }
 
     @Override
     public void periodic() {
-        SmartDashboard.putNumber("Wrist Intake Current", wristIntakeMotor.getStatorCurrent());
+        SmartDashboard.putNumber("Wrist Intake Current",
+            wristIntakeMotor.getStatorCurrent().getValueAsDouble());
     }
 
     // Runs wrist intake motor to intake a game piece.
     public void intake() {
-        wristIntakeMotor.set(ControlMode.PercentOutput, Constants.Wrist.INTAKE_SPEED);
+        wristIntakeMotor.set(Constants.Wrist.INTAKE_SPEED);
     }
 
     /**
@@ -40,7 +43,7 @@ public void intake() {
      * @param power power of motors from -1 to 1
      */
     public void setMotor(double power) {
-        wristIntakeMotor.set(ControlMode.PercentOutput, (invertForCone ? -1 : 1) * power);
+        wristIntakeMotor.set((invertForCone ? -1 : 1) * power);
     }
 
     /**
@@ -49,7 +52,7 @@ public void setMotor(double power) {
      * @param power power of motors from -1 to 1
      */
     public void setMotorRaw(double power) {
-        wristIntakeMotor.set(ControlMode.PercentOutput, power);
+        wristIntakeMotor.set(power);
     }
 
     /**
@@ -64,7 +67,8 @@ public void panic() {
      * Get if motor is stalling by checking if the stator current exceeds a constant
      */
     public boolean getVoltageSpike(boolean passedTime) {
-        return wristIntakeMotor.getStatorCurrent() > Constants.Wrist.STALL_CURRENT;
+        return wristIntakeMotor.getStatorCurrent()
+            .getValueAsDouble() > Constants.Wrist.STALL_CURRENT;
     }
 
     public void setInvert(boolean invert) {