more refactoring, work in progress

src/main/java/frc/robot/subsystems/funnel/Funnel.java

@@ -21,11 +21,8 @@ public Funnel() {
         io = Robot.isReal() ? new FunnelIOSparksMax(this.fieldsTable) : new FunnelIOSim(this.fieldsTable);
     }
 
-    public void setMotorVoltage(double voltageDemand) {
-        io.setVoltage(MathUtil.clamp(voltageDemand, -MOTOR_MAX_VOLTAGE, MOTOR_MAX_VOLTAGE));
-    }
-
     public void setMotorPercentageSpeed(double percentageSpeed)  {
+        fieldsTable.recordOutput("precentage speed", percentageSpeed);
         io.setPercentageSpeed(MathUtil.clamp(percentageSpeed, -1, 1));
     }
 
@@ -34,6 +31,7 @@ public boolean getIsCoralIn() {
     }
 
     public void stop() {
+        fieldsTable.recordOutput("precentage speed", 0);
         io.setPercentageSpeed(0);
     }
 }

src/main/java/frc/robot/subsystems/funnel/io/FunnelIO.java

@@ -15,8 +15,6 @@ public FunnelIO(LogFieldsTable fieldsTable) {
     }
 
     // Inputs:
-    public abstract void setVoltage(double voltageDemand);
-
     public abstract void setPercentageSpeed(double percentageSpeed);
 
     // Outputs:

src/main/java/frc/robot/subsystems/funnel/io/FunnelIOSim.java

@@ -3,15 +3,10 @@
 import frc.lib.logfields.LogFieldsTable;
 
 public class FunnelIOSim extends FunnelIO {
-
     public FunnelIOSim(LogFieldsTable fieldsTable) {
         super(fieldsTable);
     }
 
-    @Override
-    public void setVoltage(double voltageDemand) {
-    }
-
     @Override
     public void setPercentageSpeed(double percentageSpeed) {
     }

src/main/java/frc/robot/subsystems/funnel/io/FunnelIOSparksMax.java

@@ -15,26 +15,21 @@
 import static frc.robot.subsystems.funnel.FunnelConstants.MAX_CURRENT;
 
 public class FunnelIOSparksMax extends FunnelIO {
-    private SparkMax funnelMotor = new SparkMax(CANBUS.FUNNEL_MOTOR_ID, MotorType.kBrushless);
+    private SparkMax motor = new SparkMax(CANBUS.FUNNEL_MOTOR_ID, MotorType.kBrushless);
     private DigitalInput beamBrake = new DigitalInput(FUNNEL_BEAM_BRAKE_ID);
 
     private SparkMaxConfig motorConfig = new SparkMaxConfig();
 
     public FunnelIOSparksMax(LogFieldsTable fieldsTable) {
         super(fieldsTable);
         motorConfig.smartCurrentLimit(MAX_CURRENT);
-        motorConfig.idleMode(IdleMode.kBrake);
-        funnelMotor.configure(motorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
-    }
 
-    @Override
-    public void setVoltage(double voltageDemand) {
-        funnelMotor.setVoltage(voltageDemand);
+        motor.configure(motorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
     }
-
+    
     @Override
     public void setPercentageSpeed(double percentageSpeed) {
-        funnelMotor.set(percentageSpeed);
+        motor.set(percentageSpeed);
     }
 
     @Override
@@ -44,6 +39,6 @@ protected boolean getIsCoralIn() {
 
     @Override
     protected double getCurrent() {
-        return funnelMotor.getOutputCurrent();
+        return motor.getOutputCurrent();
     }
 }

src/main/java/frc/robot/subsystems/gripper/Gripper.java

@@ -2,6 +2,7 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.filter.Debouncer;
+import edu.wpi.first.math.filter.Debouncer.DebounceType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.logfields.LogFieldsTable;
 import frc.robot.Robot;
@@ -13,7 +14,7 @@
 
 public class Gripper extends SubsystemBase {
     private final LogFieldsTable fieldsTable = new LogFieldsTable(getName());
-    private final Debouncer isCoralInDebouncer = new Debouncer(DEBOUNCER_SECONDS);
+    private final Debouncer isCoralInDebouncer = new Debouncer(DEBOUNCER_SECONDS, DebounceType.kBoth);
 
     private final GripperIO io = Robot.isReal() ? 
         new GripperIOSparkMax(fieldsTable) : 

src/main/java/frc/robot/subsystems/gripper/GripperCommands.java

@@ -8,21 +8,23 @@
 
 public class GripperCommands {
     Gripper gripper;
-    
+
     public GripperCommands(Gripper gripper) {
         this.gripper = gripper;
     }
 
     public Command spin(double backVoltageForScoring, double rightVoltageForScoring, double leftVoltageForScoring) {
-        return gripper.run(() -> gripper.setMotorsVoltages(rightVoltageForScoring, leftVoltageForScoring, backVoltageForScoring))
-               .finallyDo(gripper::stop).withName("spin gripper");
+        return gripper.run(
+                () -> gripper.setMotorsVoltages(rightVoltageForScoring, leftVoltageForScoring, backVoltageForScoring))
+                .finallyDo(gripper::stop).withName("spin gripper");
     }
 
     public Command manualController(DoubleSupplier backSpeed, DoubleSupplier rightSpeed, DoubleSupplier leftSpeed) {
-        return gripper.run(() -> 
-            gripper.setMotorsVoltages(backSpeed.getAsDouble() * OUTTAKE_MOTORS_MAX_VOLTAGE, 
-            rightSpeed.getAsDouble() * OUTTAKE_MOTORS_MAX_VOLTAGE, leftSpeed.getAsDouble() * OUTTAKE_MOTORS_MAX_VOLTAGE))
-            .finallyDo(gripper::stop).withName("gripper manual controller");
+        return gripper.run(() -> gripper.setMotorsVoltages(
+                backSpeed.getAsDouble() * BACK_MOTOR_MAX_VOLTAGE,
+                rightSpeed.getAsDouble() * OUTTAKE_MOTORS_MAX_VOLTAGE,
+                leftSpeed.getAsDouble() * OUTTAKE_MOTORS_MAX_VOLTAGE))
+                .finallyDo(gripper::stop).withName("gripper manual controller");
     }
 
 }