No errors

src/main/java/com/frcteam3636/frc2024/subsystems/indexer/Indexer.kt

@@ -1,31 +1,41 @@
 package com.frcteam3636.frc2024.subsystems.indexer
 
+import com.revrobotics.ColorMatch
+import edu.wpi.first.wpilibj.util.Color
 import edu.wpi.first.wpilibj2.command.Command
+import edu.wpi.first.wpilibj2.command.Commands.startEnd
 import edu.wpi.first.wpilibj2.command.Subsystem
 import org.littletonrobotics.junction.Logger
 
-object Indexer {
+object Indexer: Subsystem {
     private var io: IndexerIO = IndexerIOReal()
+    private var colorMatcher = ColorMatch().apply {
+        addColorMatch(RED_BALLOON_COLOR)
+        addColorMatch(BLUE_BALLOON_COLOR)
+    }
 
     var inputs = IndexerIO.IndexerInputs()
+    var currentColor: Color? = null
 
     override fun periodic() {
         io.updateInputs(inputs)
         Logger.processInputs("Indexer", inputs)
+        currentColor = colorMatcher.matchClosestColor(inputs.balloonColor).color
     }
 
     fun progressBalloon(): Command =
         startEnd(
-            {io.setSpinSpeed(0.5)}
+            {io.setSpinSpeed(0.5)},
+            {io.setSpinSpeed(0.0)}
         )
 
     fun outtakeBalloon(): Command =
         startEnd(
-            {io.setSpinSpeed(-0.5)}
-        )
-
-    fun stopIndexerSpin(): Command = 
-        startEnd(
+            {io.setSpinSpeed(-0.5)},
             {io.setSpinSpeed(0.0)}
         )
+
+    val RED_BALLOON_COLOR = Color(255, 0, 0)
+    val BLUE_BALLOON_COLOR = Color(0, 0, 255)
+
 }

src/main/java/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt

@@ -6,31 +6,29 @@ import org.littletonrobotics.junction.inputs.LoggableInputs
 import com.frcteam3636.frc2024.CANSparkFlex
 import com.frcteam3636.frc2024.REVMotorControllerId
 import com.revrobotics.CANSparkLowLevel
+import edu.wpi.first.networktables.NetworkTableInstance
 import kotlin.doubleArrayOf
 import edu.wpi.first.wpilibj.util.Color
-import edu.wpi.first.wpilibj.
+
 
 
 interface IndexerIO{
     class IndexerInputs : LoggableInputs {
         var indexerVelocity = Rotation2d()
         var indexerCurrent: Double = 0.0
-        var isSpinningBalloon: Boolean = false
         var hasBalloon: Boolean = false
-        var balloonColor: Color = Color.kblack
+        var balloonColor: Color = Color.kBlack
 
         override fun toLog(table: LogTable?) {
             table?.put("Indexer Wheel Velocity", indexerVelocity)
             table?.put("Indexer Wheel Current", indexerCurrent)
-            table?.put("Is spinning", isSpinningBalloon)
             table?.put("Has balloon", hasBalloon)
             table?.put("Balloon Color", doubleArrayOf(balloonColor.red, balloonColor.green, balloonColor.blue))
         }
 
         override fun fromLog(table: LogTable) {
             indexerVelocity = table.get("Indexer Velocity", indexerVelocity)!![0]
             indexerCurrent = table.get("Indexer Wheel Current", indexerCurrent)
-            isSpinningBalloon = table.get("Is spinning", isSpinningBalloon)
             hasBalloon = table.get("Has balloon", hasBalloon)
             val balloonColorArray: DoubleArray = table.get("Balloon Color", doubleArrayOf(balloonColor.red, balloonColor.green, balloonColor.blue))
             balloonColor = Color(balloonColorArray[0], balloonColorArray[1], balloonColorArray[2])
@@ -49,25 +47,19 @@ class IndexerIOReal: IndexerIO{
             CANSparkLowLevel.MotorType.kBrushless
         )
 
-    private val colorSensorDistance = NetworkTables.getEntry("/proximity1")
+    private val colorSensorDistance = NetworkTableInstance.getDefault().getEntry("/proximity1")
 
-    private val colorSensorColor = NetworkTables.getEntry("/rawcolor1")
+    private val colorSensorColor = NetworkTableInstance.getDefault().getEntry("/rawcolor1")
 
     override fun updateInputs(inputs: IndexerIO.IndexerInputs) {
         inputs.indexerVelocity = Rotation2d(indexerWheel.encoder.velocity)
         inputs.indexerCurrent = indexerWheel.outputCurrent
-        inputs.isSpinningBalloon = colorSensor.get()
-        inputs.hasBalloon = colorSensorDistance.getValue() > 1000
-        inputs.balloonColor = colorSensorColor.getValue()
+        inputs.hasBalloon = colorSensorDistance.getDouble(0.0) > 1000.0
+        val colorArray = colorSensorColor.getDoubleArray(doubleArrayOf(0.0,0.0,0.0))
+        inputs.balloonColor = Color(colorArray[0], colorArray[1], colorArray[2])
     }
 
     override fun setSpinSpeed(speed: Double) {
         indexerWheel.set(speed)
     }
-
-    internal companion object Constants {
-        const val COLOR_SENSOR_PORT = i2cPort
-        const val RED_BALLOON_COLOR = (255, 0, 0)
-        const val BLUE_BALLOON_COLOR = (0, 0, 255)
-    }
 }