More work bringing 2026 into 2027, ignoring errors for pos/vel conversion factor for now

src/main/java/first/robot/constants/ClimberConstants.java

@@ -1,6 +1,6 @@
 package first.robot.constants;
 
-import java.util.function.Function;
+import org.wpilib.hardware.bus.CANPort;
 
 import com.revrobotics.spark.FeedbackSensor;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
@@ -24,6 +24,8 @@ public class ClimberConstants {
         }
     }
 
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+
     public static final int kMotorCANID = 0;
 
     public static final double kConversionFactor = 0;
@@ -45,19 +47,17 @@ public class ClimberConstants {
 
     public static final SparkMaxConfig kMotorConfig = new SparkMaxConfig();
 
-    public static final Function<Double, Double> kPositionConversionFunction = (d) -> {
-        return d * kConversionFactor;
-    };
-
-    public static final Function<Double, Double> kVelocityConversionFunction = (d) -> {
-        return kPositionConversionFunction.apply(d) / 60;
-    };
-
     static {
         kMotorConfig
             .inverted(kMotorInverted)
             .smartCurrentLimit(kCurrentLimit)
             .idleMode(kIdleMode);
+        kMotorConfig.encoder
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
         kMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
             .pid(kP, kI, kD)