the vision doesnt work

src/main/java/frc/robot/Interfaces/CANSparkMax.java

@@ -333,6 +333,9 @@ public void initSendable(SendableBuilder builder) {
     builder.addDoubleProperty("Encoder Position", this::getAbsoluteEncoderPosition, null);
     builder.addDoubleProperty("Encoder Velocity", this::getAbsoluteEncoderVelocity, null);
 
+    builder.addDoubleProperty("Conversion Factor", this::getPositionConversionFactor, this::setPositionConversionFactor);
+
+
   }
 
   /**
@@ -470,5 +473,16 @@ public double getAbsoluteEncoderVelocity() {
   }
 
 
+  public double getPositionConversionFactor() {
+    throwIfClosed();
+    return getAbsoluteEncoder(Type.kDutyCycle).getPositionConversionFactor();
+  }
+
+  public void setPositionConversionFactor(double a) {
+    throwIfClosed();
+    getAbsoluteEncoder(Type.kDutyCycle).setPositionConversionFactor(a);
+  }
+
+
 
 }

src/main/java/frc/robot/RobotContainer.java

@@ -15,7 +15,6 @@
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.commands.*;
 import frc.robot.subsystems.*;
-import frc.robot.subsystems.Tracking.Target;
 import io.github.oblarg.oblog.Logger;
 
 /**
@@ -45,7 +44,7 @@ public class RobotContainer {
   private final Tank m_Tank = new Tank();
   private final PID m_PID = new PID();
   private final PDP m_PDP = new PDP();
-  private final Target m_Target = new Target();
+  private final Vision m_Vision = new Vision(m_Tank);
 
 
 
@@ -63,6 +62,7 @@ public class RobotContainer {
   private final FineDriveCommand m_FineDriveCommand = new FineDriveCommand(m_Tank);
   private final PlaceCubeSecondLevelCommand m_PlaceCubeSecondLevelCommand = new PlaceCubeSecondLevelCommand(m_Tank,
       m_Arm, m_Claw);
+  private final TrackPiece m_TrackPiece = new TrackPiece(m_Vision, m_Tank);
 
   // private final XTracking m_XTracking = new XTracking(m_Tank, null, m_Target);
   // private final YTracking m_YTracking = new YTr
@@ -89,6 +89,7 @@ public RobotContainer() {
     tab.add(m_MoveArmYCommand);
     tab.add(m_PDP);
     tab.add(m_PlaceCubeSecondLevelCommand);
+    tab.add(m_Vision);
 
     tab.add(m_PID);
     tab.add(m_PlaceConeSecondLevelCommand);
@@ -121,8 +122,10 @@ private void configureButtonBindings() {
         .whileTrue(m_FineDriveCommand);
     new JoystickButton(m_armController2, XboxController.Button.kY.value).whileTrue(m_PlaceConeSecondLevelCommand);
 
-    new JoystickButton(m_armController2, XboxController.Button.kStart.value)
-        .onTrue(m_AutoCommand)
+
+    new JoystickButton(m_armController2, XboxController.Button.kX.value).whileTrue(m_TrackPiece);
+
+
 
     // new JoystickButton(m_armController2, XboxController.Button.kB.value)
     // .whileTrue(m_PlaceConeSecondLevelCommand);

src/main/java/frc/robot/commands/DriveCommand.java

@@ -33,7 +33,7 @@ public void initialize() {
   public void execute() {
     // double check getMaxSpeed(), might be wrong
 
-    Tank.arcadeDrive(
+    m_drivebase.arcadeDrive(
         /* rotation */RobotContainer.getAdjustedTurningStickInput() * Constants.CanConstants.maxSpeed,
         /* speed */RobotContainer.getAdjustedForwardStickInput() * 0.7);
 
@@ -42,7 +42,7 @@ public void execute() {
 
   @Override
   public void end(boolean interrupted) {
-    Tank.arcadeDrive(0, 0);
+    m_drivebase.arcadeDrive(0, 0);
   }
 
   @Override

src/main/java/frc/robot/commands/FineDriveCommand.java

@@ -25,13 +25,13 @@ public void initialize() {
   @Override
   public void execute() {
     // double check getMaxSpeed(), might be wrong
-    Tank.arcadeDrive(
+    m_drivebase.arcadeDrive(
         RebindHat.ControllerToYAxis() * 0.43, RebindHat.ControllerToXAxis() * 0.43);
   }
 
   @Override
   public void end(boolean interrupted) {
-    Tank.arcadeDrive(0, 0);
+    m_drivebase.arcadeDrive(0, 0);
   }
 
   @Override

src/main/java/frc/robot/commands/PickUpPiece.java

@@ -0,0 +1,19 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class PickUpPiece extends SequentialCommandGroup {
+  /** Creates a new PickUpPiece. */
+  public PickUpPiece() {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands();
+  }
+}

src/main/java/frc/robot/commands/TrackPiece.java

@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Tank;
+import frc.robot.subsystems.Vision;
+
+public class TrackPiece extends CommandBase {
+  /** Creates a new TrackPiece. */
+  private Vision m_Vision;
+  private Tank m_Tank;
+  public TrackPiece(Vision vision, Tank tank) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_Vision = vision;
+    m_Tank = tank;
+    addRequirements(m_Vision, m_Tank);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_Tank.arcadeDrive(0.05, m_Vision.getController().calculate(m_Vision.getMeasurement(), m_Vision.getSetpoint()));
+    SmartDashboard.putString("a", "pid on");
+  }
+
+  @Override
+  public void execute() {
+    SmartDashboard.putNumber(getName(), m_Vision.getController().calculate(m_Vision.getMeasurement(), m_Vision.getSetpoint()));
+  }
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_Vision.disable();
+    m_Tank.arcadeDrive(0,0);
+    SmartDashboard.putString("a", "pid off");
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return m_Vision.atSetpoint();
+  }
+}

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

@@ -202,7 +202,7 @@ public double getMaxSpeed() {
    * @param speed    The forward/backward speed.
    * @param rotation The rotation speed.
    */
-  public static void arcadeDrive(double speed, double rotation) {
+  public void arcadeDrive(double speed, double rotation) {
 
     drive.arcadeDrive(
         -speed * Math.pow(Math.abs(speed), 0.5), rotation * Math.pow(Math.abs(rotation), 0.5));