Final changes before merge

src/main/java/frc/robot/RobotState.java

@@ -40,11 +40,13 @@ public class RobotState {
   // advantagescope components
   private final boolean kComponentsEnabled = true;
   private final Pose3d kShooterZeroPose =
-      new Pose3d(new Translation3d(0.017, 0.0, 0.415), new Rotation3d());
+      new Pose3d(
+          new Translation3d(0.017, 0.0, 0.415),
+          new Rotation3d(0.0, Units.degreesToRadians(-2), 0.0));
   private final Pose3d kIntakeZeroPose =
       new Pose3d(
           new Translation3d(-0.269, -0.01, 0.2428),
-          new Rotation3d(Units.degreesToRadians(180), Units.degreesToRadians(170), 0.0));
+          new Rotation3d(Units.degreesToRadians(180), Units.degreesToRadians(201), 0.0));
 
   private RobotState(Drive drive, Shooter shooter, Indexer indexer, Intake intake, Led led) {
     // subsystems

src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIONeo.java

@@ -2,26 +2,32 @@
 
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
 import edu.wpi.first.math.util.Units;
 import frc.robot.Constants.IntakeConstants;
 
 public class IntakePivotIONeo implements IntakePivotIO {
   private CANSparkMax m_motor;
-  private AbsoluteEncoder m_encoder;
+  private AbsoluteEncoder m_absEncoder;
+  private RelativeEncoder m_relEncoder;
 
   public IntakePivotIONeo(int port) {
     m_motor = new CANSparkMax(port, CANSparkMax.MotorType.kBrushless);
-    m_encoder = m_motor.getAbsoluteEncoder();
-    m_encoder.setPositionConversionFactor(IntakeConstants.kPivotGearRatio);
+    m_absEncoder = m_motor.getAbsoluteEncoder();
 
-    m_encoder.setZeroOffset(IntakeConstants.kPivotOffset.getRadians());
+    // do not ask me how, but the gear ratio causes the position unit to be in radians
+    // all future times that units are used for this encoder are in radians
+    m_absEncoder.setPositionConversionFactor(IntakeConstants.kPivotGearRatio);
+    m_absEncoder.setZeroOffset(IntakeConstants.kPivotOffset.getRadians());
+
+    m_relEncoder = m_motor.getEncoder();
   }
 
   @Override
   public void updateInputs(IntakePivotInputs inputs) {
-    inputs.curAngle = Units.rotationsToRadians(m_encoder.getPosition());
-    inputs.curVelocity =
-        Units.rotationsPerMinuteToRadiansPerSecond(m_motor.getEncoder().getVelocity());
+    inputs.curAngle = m_absEncoder.getPosition();
+
+    inputs.curVelocity = Units.rotationsPerMinuteToRadiansPerSecond(m_relEncoder.getVelocity());
     inputs.curVoltage = m_motor.getAppliedOutput();
     inputs.curAmps = m_motor.getOutputCurrent();
   }