Merge branch 'main' into refactoring

wildstang · Jan 9, 2024 · 31ad5fe · 31ad5fe
2 parents 6d581b0 + a973cd5
commit 31ad5fe
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Showing 16 changed files with 136 additions and 280 deletions.
diff --git a/src/main/java/frc/paths/Paths.txt b/src/main/java/frc/paths/Paths.txt
diff --git a/src/main/java/frc/paths/Test.java b/src/main/java/frc/paths/Test.java
diff --git a/src/main/java/frc/paths/config.txt b/src/main/java/frc/paths/config.txt
diff --git a/src/main/java/org/wildstang/framework/auto/BobTrajectory.java b/src/main/java/org/wildstang/framework/auto/BobTrajectory.java
diff --git a/src/main/java/org/wildstang/hardware/roborio/RoboRIOOutputFactory.java b/src/main/java/org/wildstang/hardware/roborio/RoboRIOOutputFactory.java
@@ -12,7 +12,7 @@
 import org.wildstang.hardware.roborio.outputs.WsRelay;
 import org.wildstang.hardware.roborio.outputs.WsServo;
 import org.wildstang.hardware.roborio.outputs.WsSolenoid;
-import org.wildstang.hardware.roborio.outputs.WsSparkMax;
+import org.wildstang.hardware.roborio.outputs.WsSpark;
 import org.wildstang.hardware.roborio.outputs.WsRemoteAnalogOutput;
 import org.wildstang.hardware.roborio.outputs.WsRemoteDigitalOutput;
 import org.wildstang.hardware.roborio.outputs.config.WsDigitalOutputConfig;
@@ -23,8 +23,8 @@
 import org.wildstang.hardware.roborio.outputs.config.WsRelayConfig;
 import org.wildstang.hardware.roborio.outputs.config.WsServoConfig;
 import org.wildstang.hardware.roborio.outputs.config.WsSolenoidConfig;
-import org.wildstang.hardware.roborio.outputs.config.WsSparkMaxConfig;
-import org.wildstang.hardware.roborio.outputs.config.WsSparkMaxFollowerConfig;
+import org.wildstang.hardware.roborio.outputs.config.WsSparkConfig;
+import org.wildstang.hardware.roborio.outputs.config.WsSparkFollowerConfig;
 import org.wildstang.hardware.roborio.outputs.config.WsRemoteAnalogOutputConfig;
 import org.wildstang.hardware.roborio.outputs.config.WsRemoteDigitalOutputConfig;
 
@@ -79,18 +79,17 @@ else if (config instanceof WsPhoenixFollowerConfig) {
             out = Core.getOutputManager().getOutput(c.getFollowing());
             ((WsPhoenix) out).addFollower(c.getChannel(), c.getType(), c.isOpposing());
         }
-        else if (config instanceof WsSparkMaxConfig) {
-            WsSparkMaxConfig c = (WsSparkMaxConfig) config;
-            out = new WsSparkMax(p_output.getName(), c.getChannel(), c.isBrushless(),
-                                    c.getDefault(), c.isInverted());
+        else if (config instanceof WsSparkConfig) {
+            WsSparkConfig c = (WsSparkConfig) config;
+            out = new WsSpark(p_output.getName(), c.getChannel(), c.getType(), c.getDefault(), c.isInverted());
         }
         // Note a WsSparkMaxFollower must be defined after its corresponding WsSparkMax
-        else if (config instanceof WsSparkMaxFollowerConfig) {
-            WsSparkMaxFollowerConfig c = (WsSparkMaxFollowerConfig) config;
+        else if (config instanceof WsSparkFollowerConfig) {
+            WsSparkFollowerConfig c = (WsSparkFollowerConfig) config;
             // Returns the follwed WsSparkMax because a return is required
             // and duplicate outputs are thrown out when encountered.
             out = Core.getOutputManager().getOutput(c.getFollowing());
-            ((WsSparkMax) out).addFollower(c.getChannel(), c.isBrushless(), c.isOpposing());
+            ((WsSpark) out).addFollower(c.getChannel(), c.getType(), c.isOpposing());
         }
         else if (config instanceof WsSolenoidConfig) {
             WsSolenoidConfig c = (WsSolenoidConfig) config;

diff --git a/src/main/java/org/wildstang/hardware/roborio/outputs/WsPhoenix.java b/src/main/java/org/wildstang/hardware/roborio/outputs/WsPhoenix.java
@@ -49,7 +49,7 @@ public WsPhoenix(String name, int channel, double p_default, WsMotorControllers
                 motor = new TalonFX(channel);
                 break;
             default:
-                Log.error("Invalid motor control for WsPhoenix!");
+                Log.error("Invalid motor controller for WsPhoenix!");
                 return;
         }
         motor.setInverted(invert);
@@ -73,7 +73,7 @@ public void addFollower(int canConstant, WsMotorControllers controller, boolean
                 follower = new TalonFX(canConstant);
                 break;
             default:
-                Log.error("Invalid follower motor control for WsPhoenix!");
+                Log.error("Invalid follower motor controller for WsPhoenix!");
                 return;
         }
         follower.follow(motor);