Begin cleanup

Greater-Rochester-Robotics · Oct 16, 2024 · e8c96db · e8c96db
1 parent 875603d
commit e8c96db
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Showing 11 changed files with 360 additions and 394 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -4,6 +4,7 @@
   "java.inlayHints.parameterNames.enabled": "literals",
   "java.inlayHints.parameterNames.exclusions": [
     "edu.wpi.first.math.util.Units.*",
+    "(key, value)",
     "(initialValue)",
     "(magnitude)",
     "(value)"
@@ -51,6 +52,7 @@
     "CTRE",
     "Deadband",
     "Deadbands",
+    "Deadzone",
     "Decel",
     "DeltAng",
     "DeltVel",
@@ -70,6 +72,7 @@
     "Grav",
     "GRRDashboard",
     "Holonomic",
+    "Intaking",
     "Integ",
     "Interpolatable",
     "Itor",

diff --git a/src/main/java/org/team340/lib/util/rev/SparkFlexConfig.java b/src/main/java/org/team340/lib/util/rev/SparkFlexConfig.java
@@ -5,13 +5,33 @@
 import com.revrobotics.REVLibError;
 import org.team340.lib.util.Math2;
 import org.team340.lib.util.Sleep;
+import org.team340.robot.Constants;
 
 /**
  * Config builder for {@link CANSparkFlex}.
  */
 public class SparkFlexConfig extends RevConfigBase<CANSparkFlex> {
 
-    private static final double FACTORY_DEFAULTS_SLEEP = 0.025;
+    private static final double kFactoryDefaultsSleep = 0.035;
+    private static final SparkFlexConfig kDefaults = new SparkFlexConfig()
+        .clearFaults()
+        .restoreFactoryDefaults()
+        .enableVoltageCompensation(Constants.VOLTAGE)
+        .setPeriodicFramePeriod(Frame.S0, 20)
+        .setPeriodicFramePeriod(Frame.S1, 20)
+        .setPeriodicFramePeriod(Frame.S2, 20)
+        .setPeriodicFramePeriod(Frame.S3, 10000)
+        .setPeriodicFramePeriod(Frame.S4, 10000)
+        .setPeriodicFramePeriod(Frame.S5, 10000)
+        .setPeriodicFramePeriod(Frame.S6, 10000)
+        .setPeriodicFramePeriod(Frame.S7, 10000);
+
+    /**
+     * Returns a default Spark Flex config.
+     */
+    public static SparkFlexConfig defaults() {
+        return kDefaults.clone();
+    }
 
     /**
      * Clones this config.
@@ -555,7 +575,7 @@ public SparkFlexConfig restoreFactoryDefaults() {
         addStep(
             sparkFlex -> {
                 REVLibError res = sparkFlex.restoreFactoryDefaults();
-                Sleep.seconds(FACTORY_DEFAULTS_SLEEP, true);
+                Sleep.seconds(kFactoryDefaultsSleep, true);
                 return res;
             },
             "Restore Factory Defaults"
@@ -572,7 +592,7 @@ public SparkFlexConfig restoreFactoryDefaults(boolean persist) {
         addStep(
             sparkFlex -> {
                 REVLibError res = sparkFlex.restoreFactoryDefaults(persist);
-                Sleep.seconds(FACTORY_DEFAULTS_SLEEP, true);
+                Sleep.seconds(kFactoryDefaultsSleep, true);
                 return res;
             },
             "Restore Factory Defaults"

diff --git a/src/main/java/org/team340/lib/util/rev/SparkMaxConfig.java b/src/main/java/org/team340/lib/util/rev/SparkMaxConfig.java
@@ -11,7 +11,26 @@
  */
 public class SparkMaxConfig extends RevConfigBase<CANSparkMax> {
 
-    private static final double FACTORY_DEFAULTS_SLEEP = 0.050;
+    private static final double kFactoryDefaultsSleep = 0.050;
+    private static final SparkMaxConfig kDefaults = new SparkMaxConfig()
+        .clearFaults()
+        .restoreFactoryDefaults()
+        .enableVoltageCompensation(12.0)
+        .setPeriodicFramePeriod(Frame.S0, 20)
+        .setPeriodicFramePeriod(Frame.S1, 20)
+        .setPeriodicFramePeriod(Frame.S2, 20)
+        .setPeriodicFramePeriod(Frame.S3, 10000)
+        .setPeriodicFramePeriod(Frame.S4, 10000)
+        .setPeriodicFramePeriod(Frame.S5, 10000)
+        .setPeriodicFramePeriod(Frame.S6, 10000)
+        .setPeriodicFramePeriod(Frame.S7, 10000);
+
+    /**
+     * Returns a default Spark MAX config.
+     */
+    public static SparkMaxConfig defaults() {
+        return kDefaults.clone();
+    }
 
     /**
      * Clones this config.
@@ -551,7 +570,7 @@ public SparkMaxConfig restoreFactoryDefaults() {
         addStep(
             sparkMax -> {
                 REVLibError res = sparkMax.restoreFactoryDefaults();
-                Sleep.seconds(FACTORY_DEFAULTS_SLEEP, true);
+                Sleep.seconds(kFactoryDefaultsSleep, true);
                 return res;
             },
             "Restore Factory Defaults"
@@ -568,7 +587,7 @@ public SparkMaxConfig restoreFactoryDefaults(boolean persist) {
         addStep(
             sparkMax -> {
                 REVLibError res = sparkMax.restoreFactoryDefaults(persist);
-                Sleep.seconds(FACTORY_DEFAULTS_SLEEP, true);
+                Sleep.seconds(kFactoryDefaultsSleep, true);
                 return res;
             },
             "Restore Factory Defaults"