implement inline motor config w/ sparkutils

src/main/java/org/sciborgs1155/lib/constants/SparkUtils.java

@@ -1,6 +1,5 @@
 package org.sciborgs1155.lib.constants;
 
-/** Add your docs here. */
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
@@ -17,23 +16,20 @@ public class SparkUtils {
    * Creates and configures a CANSparkMax.
    *
    * @param port
-   * @param type
    * @param config
    * @return The configured CANSparkMax
    */
-  public static CANSparkMax create(int port, MotorType type, Consumer<CANSparkMax> config) {
-    CANSparkMax spark = new CANSparkMax(port, type);
+  public static CANSparkMax create(int port, Consumer<CANSparkMax> config) {
+    CANSparkMax spark = new CANSparkMax(port, MotorType.kBrushless);
     spark.restoreFactoryDefaults();
     config.accept(spark);
     sparks.add(spark);
     return spark;
   }
 
   /**
-   * Burn to flash all motor configs at once, accounting for CAN bus delay. Use after fully
+   * Burn all motor configs to flash at the same time, accounting for CAN bus delay. Use after fully
    * configuring motors.
-   *
-   * @param sparks
    */
   public static void safeBurnFlash() {
     Timer.delay(0.2);
@@ -44,6 +40,12 @@ public static void safeBurnFlash() {
     Timer.delay(0.2);
   }
 
+  /**
+   * Disables a list of frames for a specific motor.
+   *
+   * @param spark
+   * @param frames
+   */
   public static void disableFrames(CANSparkMax spark, int... frames) {
     for (int frame : frames) {
       spark.setPeriodicFramePeriod(PeriodicFrame.fromId(frame), 65535);

src/main/java/org/sciborgs1155/robot/Constants.java

@@ -4,7 +4,6 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
 import java.awt.Color;
 import java.util.Map;
-import org.sciborgs1155.lib.constants.MotorConfig;
 import org.sciborgs1155.lib.constants.PIDConstants;
 
 /**

src/main/java/org/sciborgs1155/robot/arm/ArmConstants.java

@@ -4,8 +4,6 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
 import org.sciborgs1155.lib.constants.ArmFFConstants;
 import org.sciborgs1155.lib.constants.ElevatorFFConstants;
-import org.sciborgs1155.lib.constants.MotorConfig;
-import org.sciborgs1155.lib.constants.MotorConfig.NeutralBehavior;
 import org.sciborgs1155.lib.constants.PIDConstants;
 import org.sciborgs1155.robot.Constants;
 import org.sciborgs1155.robot.Constants.Dimensions;
@@ -15,9 +13,6 @@
 public class ArmConstants {
 
   public static final class Wrist {
-    public static final MotorConfig MOTOR_CFG =
-        MotorConfig.base().withNeutralBehavior(NeutralBehavior.BRAKE);
-
     public static final double MOTOR_GEARING = 53.125 / 1.0;
     // Gearing for motor : angle (radians)
 
@@ -60,9 +55,6 @@ public static final class Wrist {
   }
 
   public static final class Elbow {
-    public static final MotorConfig MOTOR_CFG =
-        MotorConfig.base().withNeutralBehavior(NeutralBehavior.BRAKE).withCurrentLimit(50);
-
     public static final double MOTOR_GEARING = 63.75 / 1.0;
 
     public static final double ENCODER_RATIO = 12.0 / 72.0;
@@ -107,9 +99,6 @@ public static final class Elbow {
   }
 
   public static final class Elevator {
-    public static final MotorConfig MOTOR_CFG =
-        MotorConfig.base().withNeutralBehavior(NeutralBehavior.BRAKE).withCurrentLimit(35);
-
     public static final double MOTOR_GEARING = 30.0 / 1.0;
     // Gearing for motor : height (meters)
 

src/main/java/org/sciborgs1155/robot/arm/RealElbow.java

@@ -3,7 +3,7 @@
 import static org.sciborgs1155.robot.Ports.Elbow.*;
 
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkMax.IdleMode;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -13,16 +13,41 @@
 import io.github.oblarg.oblog.annotations.Log;
 import java.util.List;
 import org.sciborgs1155.lib.BetterArmFeedforward;
-import org.sciborgs1155.lib.constants.MotorConfig;
+import org.sciborgs1155.lib.constants.SparkUtils;
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.Constants;
 import org.sciborgs1155.robot.arm.ArmConstants.Elbow;
 
 public class RealElbow implements JointIO {
-  private final CANSparkMax middleMotor;
-  private final CANSparkMax leftMotor;
-  private final CANSparkMax rightMotor;
+  private final CANSparkMax middleMotor =
+      SparkUtils.create(
+          MIDDLE_MOTOR,
+          s -> {
+            s.setIdleMode(IdleMode.kBrake);
+            s.setOpenLoopRampRate(0);
+            s.setSmartCurrentLimit(50);
+          });
+
+  private final CANSparkMax leftMotor =
+      SparkUtils.create(
+          LEFT_MOTOR,
+          s -> {
+            s.setIdleMode(IdleMode.kBrake);
+            s.setOpenLoopRampRate(0);
+            s.setSmartCurrentLimit(50);
+            s.follow(middleMotor);
+          });
+
+  private final CANSparkMax rightMotor =
+      SparkUtils.create(
+          RIGHT_MOTOR,
+          s -> {
+            s.setIdleMode(IdleMode.kBrake);
+            s.setOpenLoopRampRate(0);
+            s.setSmartCurrentLimit(50);
+            s.follow(middleMotor);
+          });
 
   private final Encoder encoder;
 
@@ -36,20 +61,9 @@ public class RealElbow implements JointIO {
   private double lastVoltage;
 
   public RealElbow(JointConfig config) {
-    middleMotor = Elbow.MOTOR_CFG.build(null, MIDDLE_MOTOR);
-    leftMotor = Elbow.MOTOR_CFG.build(MotorType.kBrushless, LEFT_MOTOR);
-    rightMotor = Elbow.MOTOR_CFG.build(MotorType.kBrushless, RIGHT_MOTOR);
-
-    MotorConfig.disableFrames(middleMotor, 4, 5, 6);
-    MotorConfig.disableFrames(leftMotor, 1, 2, 3, 4, 5, 6);
-    MotorConfig.disableFrames(rightMotor, 1, 2, 3, 4, 5, 6);
-
-    leftMotor.follow(middleMotor);
-    rightMotor.follow(middleMotor);
-
-    middleMotor.burnFlash();
-    leftMotor.burnFlash();
-    rightMotor.burnFlash();
+    SparkUtils.disableFrames(middleMotor, 4, 5, 6);
+    SparkUtils.disableFrames(leftMotor, 1, 2, 3, 4, 5, 6);
+    SparkUtils.disableFrames(rightMotor, 1, 2, 3, 4, 5, 6);
 
     encoder = new Encoder(ENCODER[0], ENCODER[1]);
     encoder.setDistancePerPulse(Elbow.CONVERSION);

src/main/java/org/sciborgs1155/robot/arm/RealElevator.java

@@ -3,25 +3,50 @@
 import static org.sciborgs1155.robot.Ports.Elevator.*;
 
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkMax.IdleMode;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.Encoder;
 import java.util.List;
 import org.sciborgs1155.lib.BetterElevatorFeedforward;
-import org.sciborgs1155.lib.constants.MotorConfig;
+import org.sciborgs1155.lib.constants.SparkUtils;
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.Constants;
 import org.sciborgs1155.robot.arm.ArmConstants.Elevator;
 
 public class RealElevator implements ElevatorIO {
 
-  private final CANSparkMax lead;
-  private final CANSparkMax left;
-  private final CANSparkMax right;
+  private final CANSparkMax lead =
+      SparkUtils.create(
+          RIGHT_MOTOR,
+          s -> {
+            s.setIdleMode(IdleMode.kBrake);
+            s.setOpenLoopRampRate(0);
+            s.setSmartCurrentLimit(35);
+          });
+
+  private final CANSparkMax left =
+      SparkUtils.create(
+          LEFT_MOTOR,
+          s -> {
+            s.setIdleMode(IdleMode.kBrake);
+            s.setOpenLoopRampRate(0);
+            s.setSmartCurrentLimit(35);
+            s.follow(lead);
+          });
+
+  private final CANSparkMax right =
+      SparkUtils.create(
+          MIDDLE_MOTOR,
+          s -> {
+            s.setIdleMode(IdleMode.kBrake);
+            s.setOpenLoopRampRate(0);
+            s.setSmartCurrentLimit(35);
+            s.follow(lead);
+          });
 
   private final Encoder encoder;
 
@@ -35,20 +60,9 @@ public class RealElevator implements ElevatorIO {
   private double lastVoltage;
 
   public RealElevator(ElevatorConfig config) {
-    lead = Elevator.MOTOR_CFG.build(MotorType.kBrushless, RIGHT_MOTOR);
-    left = Elevator.MOTOR_CFG.build(MotorType.kBrushless, LEFT_MOTOR);
-    right = Elevator.MOTOR_CFG.build(MotorType.kBrushless, MIDDLE_MOTOR);
-
-    left.follow(lead);
-    right.follow(lead);
-
-    MotorConfig.disableFrames(lead, 4, 5, 6);
-    MotorConfig.disableFrames(left, 1, 2, 3, 4, 5, 6);
-    MotorConfig.disableFrames(right, 1, 2, 3, 4, 5, 6);
-
-    lead.burnFlash();
-    left.burnFlash();
-    right.burnFlash();
+    SparkUtils.disableFrames(lead, 4, 5, 6);
+    SparkUtils.disableFrames(left, 1, 2, 3, 4, 5, 6);
+    SparkUtils.disableFrames(right, 1, 2, 3, 4, 5, 6);
 
     encoder = new Encoder(ENCODER[0], ENCODER[1]);
     encoder.setDistancePerPulse(Elevator.CONVERSION_RELATIVE);

src/main/java/org/sciborgs1155/robot/arm/RealWrist.java

@@ -3,7 +3,7 @@
 import static org.sciborgs1155.robot.Ports.Wrist.*;
 
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkMax.IdleMode;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -13,15 +13,23 @@
 import edu.wpi.first.wpilibj.Encoder;
 import java.util.List;
 import org.sciborgs1155.lib.BetterArmFeedforward;
-import org.sciborgs1155.lib.constants.MotorConfig;
+import org.sciborgs1155.lib.constants.SparkUtils;
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.Constants;
 import org.sciborgs1155.robot.arm.ArmConstants.Wrist;
 
 public class RealWrist implements JointIO {
 
-  private final CANSparkMax motor;
+  private final CANSparkMax motor =
+      SparkUtils.create(
+          MOTOR,
+          s -> {
+            s.setIdleMode(IdleMode.kBrake);
+            s.setOpenLoopRampRate(0);
+            s.setSmartCurrentLimit(80);
+          });
+
   private final DutyCycleEncoder absolute;
   private final Encoder relative;
 
@@ -37,7 +45,6 @@ public class RealWrist implements JointIO {
   private double lastVoltage;
 
   public RealWrist(JointConfig config) {
-    motor = Wrist.MOTOR_CFG.build(MotorType.kBrushless, MOTOR);
     absolute = new DutyCycleEncoder(ABS_ENCODER);
     relative = new Encoder(RELATIVE_ENCODER[0], RELATIVE_ENCODER[1]);
 
@@ -46,9 +53,7 @@ public RealWrist(JointConfig config) {
     relative.setDistancePerPulse(Wrist.CONVERSION_RELATIVE);
     relative.setReverseDirection(true);
 
-    MotorConfig.disableFrames(motor, 4, 5, 6);
-
-    motor.burnFlash();
+    SparkUtils.disableFrames(motor, 4, 5, 6);
 
     ff = config.ff().createFeedforward();
     pid = config.pid().createPIDController();

src/main/java/org/sciborgs1155/robot/drive/DriveConstants.java

@@ -3,12 +3,9 @@
 import com.pathplanner.lib.PathConstraints;
 import edu.wpi.first.math.geometry.Translation2d;
 import org.sciborgs1155.lib.constants.BasicFFConstants;
-import org.sciborgs1155.lib.constants.MotorConfig;
-import org.sciborgs1155.lib.constants.MotorConfig.NeutralBehavior;
 import org.sciborgs1155.lib.constants.PIDConstants;
 
 public final class DriveConstants {
-
   public static final double MAX_SPEED = 4.8; // m / s
   public static final double MAX_ANGULAR_SPEED = 2 * Math.PI; // rad / s
   public static final double MAX_ACCEL = 6.5; // m / s^2
@@ -46,9 +43,6 @@ public final class DriveConstants {
 
   public static final class SwerveModule {
     public static final class Driving {
-      public static final MotorConfig MOTOR_CFG =
-          MotorConfig.base().withNeutralBehavior(NeutralBehavior.BRAKE).withCurrentLimit(50);
-
       public static final double CIRCUMFERENCE = 2.0 * Math.PI * 0.0381;
       // Diameter of the wheel in meters (2 * π * R)
 
@@ -61,9 +55,6 @@ public static final class Driving {
     }
 
     public static final class Turning {
-      public static final MotorConfig MOTOR_CFG =
-          MotorConfig.base().withNeutralBehavior(NeutralBehavior.BRAKE).withCurrentLimit(20);
-
       public static final double MOTOR_GEARING = 1.0 / 4.0 / 3.0;
 
       public static final double CONVERSION = 2.0 * Math.PI;

src/main/java/org/sciborgs1155/robot/drive/MAXSwerveModule.java

@@ -3,7 +3,7 @@
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.ControlType;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
 import com.revrobotics.SparkMaxPIDController;
@@ -12,8 +12,8 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import java.util.List;
-import org.sciborgs1155.lib.constants.MotorConfig;
 import org.sciborgs1155.lib.constants.PIDConstants;
+import org.sciborgs1155.lib.constants.SparkUtils;
 import org.sciborgs1155.lib.failure.FaultBuilder;
 import org.sciborgs1155.lib.failure.HardwareFault;
 import org.sciborgs1155.robot.drive.DriveConstants.SwerveModule.Driving;
@@ -49,8 +49,24 @@ public class MAXSwerveModule implements ModuleIO {
   public MAXSwerveModule(String name, int drivePort, int turnPort, double angularOffset) {
     this.name = name;
 
-    driveMotor = Driving.MOTOR_CFG.build(MotorType.kBrushless, drivePort);
-    turnMotor = Turning.MOTOR_CFG.build(MotorType.kBrushless, turnPort);
+    driveMotor =
+        SparkUtils.create(
+            drivePort,
+            s -> {
+              s.setInverted(false);
+              s.setIdleMode(IdleMode.kBrake);
+              s.setOpenLoopRampRate(0);
+              s.setSmartCurrentLimit(50);
+            });
+    turnMotor =
+        SparkUtils.create(
+            turnPort,
+            s -> {
+              s.setInverted(false);
+              s.setIdleMode(IdleMode.kBrake);
+              s.setOpenLoopRampRate(0);
+              s.setSmartCurrentLimit(20);
+            });
 
     driveEncoder = driveMotor.getEncoder();
     turningEncoder = turnMotor.getAbsoluteEncoder(Type.kDutyCycle);
@@ -76,11 +92,8 @@ public MAXSwerveModule(String name, int drivePort, int turnPort, double angularO
     turnFeedback.setPositionPIDWrappingMinInput(0);
     turnFeedback.setPositionPIDWrappingMaxInput(Turning.CONVERSION);
 
-    MotorConfig.disableFrames(driveMotor, 4, 5, 6);
-    MotorConfig.disableFrames(turnMotor, 4, 6);
-
-    driveMotor.burnFlash();
-    turnMotor.burnFlash();
+    SparkUtils.disableFrames(driveMotor, 4, 5, 6);
+    SparkUtils.disableFrames(turnMotor, 4, 6);
 
     driveEncoder.setPosition(0);
     this.angularOffset = Rotation2d.fromRadians(angularOffset);