new classes

src/main/java/frc/robot/subsystems/SingleJointedArmSubsystem/SingleJointedArmIOEncoder.java

@@ -1,5 +1,5 @@
 package frc.robot.subsystems.SingleJointedArmSubsystem;
 
-public class SingleJointedArmEncoderIO {
+public class SingleJointedArmIOEncoder {
 
 }

src/main/java/frc/robot/subsystems/SingleJointedArmSubsystem/SingleJointedArmIOSparkMax.java

@@ -1,4 +1,4 @@
 package frc.robot.subsystems.SingleJointedArmSubsystem;
 
-public class Module {
+public class SingleJointedArmIOSparkMax {
 }

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

@@ -2,24 +2,28 @@
 
 
 
+import com.revrobotics.spark.SparkLowLevel;
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
+import com.revrobotics.spark.SparkMax;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.SingleJointedArmConstants;
 
+
+
 public class SingleJointedArmSubsystem extends SubsystemBase {
-    private final PWMSparkMax armMotor = new PWMSparkMax(SingleJointedArmConstants.MotorNumber);
-    private final Encoder armEncoder = new Encoder();
+    public static int canID;
+    private final SparkMax armMotor = new SparkMax(canID, SparkLowLevel.MotorType.kBrushless);
+    //private final Encoder armEncoder = new Encoder();
     private final SimpleMotorFeedforward armFeedForward = new SimpleMotorFeedforward(SingleJointedArmConstants.kSVolts, SingleJointedArmConstants.kVVoltsSecondsPerRotation);
     private final PIDController armFeedback = new PIDController(SingleJointedArmConstants.kP, SingleJointedArmConstants.kD, SingleJointedArmConstants.kI);
 
     public SingleJointedArmSubsystem() {
         armFeedback.setTolerance(SingleJointedArmConstants.kArmToleranceRPS);
-        armEncoder.setDistancePerPulse(SingleJointedArmConstants.kEncoderDistancePerPulse);
+        //armEncoder.setDistancePerPulse(SingleJointedArmConstants.kEncoderDistancePerPulse);
         setDefaultCommand(runOnce(() -> {
             armMotor.disable();
         }).andThen(run(() -> {