Change all CANSparkMax to wrapped versions

Co-Authored-By: Kaya <[email protected]>

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

@@ -10,10 +10,11 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import frc.robot.Constants.ModuleConstants;
+import frc.utils.sim_utils.CANSparkMAXWrapped;
 
 public class MAXSwerveModule {
-  private final CANSparkMax m_drivingSparkMax;
-  private final CANSparkMax m_turningSparkMax;
+  private final CANSparkMAXWrapped m_drivingSparkMax;
+  private final CANSparkMAXWrapped m_turningSparkMax;
 
   private final RelativeEncoder m_drivingEncoder;
   private final AbsoluteEncoder m_turningEncoder;
@@ -30,8 +31,8 @@ public class MAXSwerveModule {
    * MAX, and a Through Bore Encoder.
    */
   public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngularOffset) {
-    m_drivingSparkMax = new CANSparkMax(drivingCANId, MotorType.kBrushless);
-    m_turningSparkMax = new CANSparkMax(turningCANId, MotorType.kBrushless);
+    m_drivingSparkMax = new CANSparkMAXWrapped(drivingCANId, MotorType.kBrushless);
+    m_turningSparkMax = new CANSparkMAXWrapped(turningCANId, MotorType.kBrushless);
 
     // Factory reset, so we get the SPARKS MAX to a known state before configuring
     // them. This is useful in case a SPARK MAX is swapped out.