Using Talon Factory.

Switched out code for the talonFX factory

src/main/java/frc/robot/subsystems/arm/ArmIOKraken.java

@@ -13,6 +13,7 @@
 import com.gos.lib.properties.GosDoubleProperty;
 import com.gos.lib.properties.HeavyDoubleProperty;
 import edu.wpi.first.math.util.Units;
+import lib.factories.TalonFXFactory;
 import lib.properties.phoenix6.Phoenix6PidPropertyBuilder;
 import lib.properties.phoenix6.PidPropertyPublic;
 import frc.robot.Constants.ArmConstants;
@@ -63,12 +64,7 @@ public class ArmIOKraken implements ArmIO {
 
   public ArmIOKraken() {
     final String CANBUS = "canivore";
-    m_armMaster = new TalonFX(ArmConstants.ARM_MASTER_ID, CANBUS);
-    m_armFollower = new TalonFX(ArmConstants.ARM_FOLLOWER_ID, CANBUS);
     m_armEncoder = new CANcoder(ArmConstants.ARM_ENCODER_ID, CANBUS);
-
-    m_wristMaster = new TalonFX(ArmConstants.WRIST_MASTER_ID, CANBUS);
-    m_wristFollower = new TalonFX(ArmConstants.WRIST_FOLLOWER_ID, CANBUS);
     m_wristEncoder = new CANcoder(ArmConstants.WRIST_ENCODER_ID, CANBUS);
 
     // Arm Configuration
@@ -80,8 +76,8 @@ public ArmIOKraken() {
     armConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RotorSensor;
     armConfig.Feedback.SensorToMechanismRatio = ArmConstants.ARM_SENSOR_MECHANISM_RATIO;
 
-    m_armMaster.getConfigurator().apply(armConfig);
-    m_armFollower.getConfigurator().apply(armConfig);
+    m_armMaster = TalonFXFactory.createTalon(ArmConstants.ARM_MASTER_ID, armConfig);
+    m_armFollower = TalonFXFactory.createTalon(ArmConstants.ARM_MASTER_ID, armConfig);
 
     // Wrist Configuration
     TalonFXConfiguration wristConfig = new TalonFXConfiguration();
@@ -91,8 +87,8 @@ public ArmIOKraken() {
     wristConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
     wristConfig.Feedback.SensorToMechanismRatio = ArmConstants.WRIST_SENSOR_MECHANISM_RATIO;
 
-    m_wristMaster.getConfigurator().apply(wristConfig);
-    m_wristFollower.getConfigurator().apply(wristConfig);
+    m_wristMaster = TalonFXFactory.createTalon(ArmConstants.WRIST_MASTER_ID, wristConfig);
+    m_wristFollower = TalonFXFactory.createTalon(ArmConstants.WRIST_FOLLOWER_ID, wristConfig);
 
     // Encoder Configuration
     CANcoderConfiguration armEncoderConfig = new CANcoderConfiguration();

src/main/java/frc/robot/subsystems/climber/ClimberIOKraken.java

@@ -10,6 +10,7 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import frc.robot.Constants.ClimberConstants;
+import lib.factories.TalonFXFactory;
 import lib.properties.phoenix6.Phoenix6PidPropertyBuilder;
 import lib.properties.phoenix6.PidPropertyPublic;
 
@@ -34,16 +35,15 @@ public class ClimberIOKraken implements ClimberIO {
   private final StatusSignal<Double> m_rightAppliedOutputSignal;
 
   public ClimberIOKraken() {
-    m_leftClimber = new TalonFX(ClimberConstants.LEFT_CLIMBER_ID, "canivore");
-    m_rightClimber = new TalonFX(ClimberConstants.RIGHT_CLIMBER_ID, "canivore");
-
     TalonFXConfiguration climberConfig = new TalonFXConfiguration();
     climberConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
     climberConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
-    m_leftClimber.getConfigurator().apply(climberConfig);
+
+    m_leftClimber = TalonFXFactory.createTalon(ClimberConstants.LEFT_CLIMBER_ID, climberConfig);
 
     climberConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-    m_rightClimber.getConfigurator().apply(climberConfig);
+
+    m_rightClimber = TalonFXFactory.createTalon(ClimberConstants.RIGHT_CLIMBER_ID, climberConfig);
 
     m_leftProperty = new Phoenix6PidPropertyBuilder("Climber/Left Climber", false, m_leftClimber, 0)
         .addP(ClimberConstants.CLIMBER_KP)

src/main/java/frc/robot/subsystems/climber/ClimberIOPrototype.java

@@ -7,6 +7,7 @@
 import frc.robot.Constants.ClimberConstants;
 import lib.properties.phoenix6.Phoenix6PidPropertyBuilder;
 import lib.properties.phoenix6.PidPropertyPublic;
+import lib.factories.TalonFXFactory;
 
 public class ClimberIOPrototype implements ClimberIO {
   private final TalonFX m_leftTalon;
@@ -15,15 +16,16 @@ public class ClimberIOPrototype implements ClimberIO {
   private final PidPropertyPublic m_rightClimberPid;
 
   public ClimberIOPrototype() {
-    m_leftTalon = new TalonFX(ClimberConstants.LEFT_CLIMBER_ID);
-    m_rightTalon = new TalonFX(ClimberConstants.RIGHT_CLIMBER_ID);
+
 
     var rightTalonConfig = new TalonFXConfiguration();
     rightTalonConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-    m_rightTalon.getConfigurator().apply(rightTalonConfig);
+
+    m_rightTalon = TalonFXFactory.createTalon(ClimberConstants.RIGHT_CLIMBER_ID, "canivore", rightTalonConfig);
 
     var leftTalonConfig = new TalonFXConfiguration();
-    m_leftTalon.getConfigurator().apply(leftTalonConfig);
+
+    m_leftTalon = TalonFXFactory.createTalon(ClimberConstants.LEFT_CLIMBER_ID, "canivore", leftTalonConfig);
 
     m_leftClimberPid = new Phoenix6PidPropertyBuilder(
         "Climber/Left PID",

src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java

@@ -14,6 +14,7 @@
 package frc.robot.subsystems.drive.module;
 
 import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
@@ -28,6 +29,7 @@
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
+import lib.factories.TalonFXFactory;
 import lib.properties.phoenix6.Phoenix6PidPropertyBuilder;
 
 import java.util.Queue;
@@ -75,8 +77,6 @@ public class ModuleIOTalonFX implements ModuleIO {
 
   public ModuleIOTalonFX(ModuleConstants moduleConstants) {
     String canbus = "canivore";
-    m_driveTalon = new TalonFX(moduleConstants.DRIVE_MOTOR_ID(), canbus);
-    m_turnTalon = new TalonFX(moduleConstants.TURN_MOTOR_ID(), canbus);
 
     /*
     * this is technically the proper way of using any class that
@@ -104,7 +104,8 @@ public ModuleIOTalonFX(ModuleConstants moduleConstants) {
             moduleConstants.DRIVE_MOTOR_INVERTED() ? InvertedValue.Clockwise_Positive
                     : InvertedValue.CounterClockwise_Positive;
     driveConfig.Feedback.SensorToMechanismRatio = m_moduleConstants.DRIVE_GEAR_RATIO();
-    m_driveTalon.getConfigurator().apply(driveConfig);
+
+    m_driveTalon = TalonFXFactory.createTalon(moduleConstants.DRIVE_MOTOR_ID(), canbus, driveConfig);
     setDriveBrakeMode(true);
 
     // setup pid gains for drive motor
@@ -126,7 +127,8 @@ public ModuleIOTalonFX(ModuleConstants moduleConstants) {
                     : InvertedValue.CounterClockwise_Positive;
     turnConfig.ClosedLoopGeneral.ContinuousWrap = true;
     turnConfig.Feedback.SensorToMechanismRatio = m_moduleConstants.TURNING_GEAR_RATIO();
-    m_turnTalon.getConfigurator().apply(turnConfig);
+
+    m_turnTalon = TalonFXFactory.createTalon(moduleConstants.TURN_MOTOR_ID(), turnConfig);
     setTurnBrakeMode(true);
 
     // setup pid gains for turn motor

src/main/java/lib/factories/TalonFXFactory.java

@@ -47,6 +47,16 @@ public static TalonFX createTalon(int id, String canbusName, TalonFXConfiguratio
     return talonFX;
   }
 
+  //METHOD: This allows for the creation of a new Talon Brushless Motor with a preset Config
+  public static TalonFX createTalon(int id, TalonFXConfiguration config) {
+    TalonFX talonFX = new TalonFX(id, "canivore");
+
+    talonFX.getConfigurator().apply(config);
+
+    TalonFxMotors.add(new Pair<>(talonFX, config));
+    return talonFX;
+  }
+
   // METHOD: Checks each motor and handles sticky faults
   public static void handleFaults() {
     TalonFxMotors.forEach((Pair<TalonFX, TalonFXConfiguration> pair) -> {