fix: replace setDrivePowersFF with setDrivePowers in FollowTrajectory and Turn classes

Signed-off-by: Zach Harel <zach@zharel.me>

add: define abstract setDrivePowers method in NextFTCMecanumDrive

Signed-off-by: Zach Harel <zach@zharel.me>

Author: zachwaffle4

roadrunner/src/main/kotlin/dev/nextftc/extensions/roadrunner/FollowTrajectory.kt

@@ -42,6 +42,6 @@ class FollowTrajectory(private val mecanumDrive: NextFTCMecanumDrive, private va
     }
 
     override fun stop(interrupted: Boolean) {
-        mecanumDrive.setDrivePowersFF(PoseVelocity2d(Vector2d(0.0, 0.0), 0.0))
+        mecanumDrive.setDrivePowers(PoseVelocity2d(Vector2d(0.0, 0.0), 0.0))
     }
 }

roadrunner/src/main/kotlin/dev/nextftc/extensions/roadrunner/NextFTCMecanumDrive.kt

@@ -19,6 +19,8 @@ abstract class NextFTCMecanumDrive {
     open fun setDrivePowersFF(powers: PoseVelocity2d) =
         setDrivePowersFF(PoseVelocity2dDual.constant(powers, 1))
 
+    abstract fun setDrivePowers(powers: PoseVelocity2d)
+
     abstract fun updatePoseEstimate(): PoseVelocity2d
 
     abstract fun commandBuilder(beginPose: Pose2d): TrajectoryCommandBuilder

roadrunner/src/main/kotlin/dev/nextftc/extensions/roadrunner/Turn.kt

@@ -34,6 +34,6 @@ class Turn(private val mecanumDrive: NextFTCMecanumDrive, private val turn: Time
     }
 
     override fun stop(interrupted: Boolean) {
-        mecanumDrive.setDrivePowersFF(PoseVelocity2d(Vector2d(0.0, 0.0), 0.0))
+        mecanumDrive.setDrivePowers(PoseVelocity2d(Vector2d(0.0, 0.0), 0.0))
     }
 }