No Voltage Compensation configured on non-swerve mechanisms

[markpete]

Files: Flywheels.java, Feeder.java, Spindexer.java, IntakeRollers.java

Root cause: None of the non-swerve mechanisms enable VoltageCompensation or configure a VoltageCompensationConfigs entry. During brownout conditions, the output voltage delivered to the motors varies dramatically. Without voltage compensation, the velocity PID will fight harder to reach setpoint during sags, running higher than desired current exactly when the battery can least support it.

Suggested fix (example for Feeder):

// Add to feederConfig()
talonFXConfiguration.Voltage.PeakForwardVoltage  = 11.5; // leave headroom below 12 V
talonFXConfiguration.Voltage.PeakReverseVoltage  = -11.5;

This caps the maximum voltage request so the motor won't try to overdrive when battery voltage is good.