From 7ee94ec18354e0d62f8123090890284d03dc68fc Mon Sep 17 00:00:00 2001
From: AlphaPranav9102 <49816864+AlphaPranav9102@users.noreply.github.com>
Date: Thu, 8 Feb 2024 13:20:54 -0500
Subject: [PATCH] fix refresh bug in p6

---
 .../kotlin/org/team4099/lib/units/MechanismUnits.kt    | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt b/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
index 33ac2cf..02b079f 100644
--- a/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
+++ b/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
@@ -319,8 +319,8 @@ fun ctreLinearMechanismSensor(
     Timescale.PHOENIX_PRO,
     1.0,
     compensationVoltage,
-    { velocitySignal.value },
-    { positionSignal.value },
+    { velocitySignal.refresh(); velocitySignal.value },
+    { positionSignal.refresh(); positionSignal.value },
   )
 }
 
@@ -330,15 +330,15 @@ fun ctreAngularMechanismSensor(
   compensationVoltage: ElectricalPotential
 ): AngularMechanismSensor {
   val velocitySignal = controller.velocity
-  val positionSignal = controller.velocity
+  val positionSignal = controller.position
 
   return AngularMechanismSensor(
     ratio,
     Timescale.PHOENIX_PRO,
     1.0,
     compensationVoltage,
-    { velocitySignal.value },
-    { positionSignal.value },
+    { velocitySignal.refresh(); velocitySignal.value },
+    { positionSignal.refresh(); positionSignal.value },
   )
 }