rework spark max mocking

Author: CoolSpy3

src/main/java/frc/robot/lib/DummySparkMaxAnswer.java

@@ -1,5 +1,6 @@
 package frc.robot.lib;
 
+import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxAnalogSensor;
 import com.revrobotics.SparkMaxLimitSwitch;
@@ -15,26 +16,32 @@ public class DummySparkMaxAnswer extends REVLibErrorAnswer {
 
     private static final long serialVersionUID = 2284848703213263465L;
 
+    public static final DummySparkMaxAnswer ANSWER = new DummySparkMaxAnswer();
+
+    public static final CANSparkMax DUMMY_SPARK_MAX = Mockito.mock(CANSparkMax.class, ANSWER);
+
+    public static final RelativeEncoder DUMMY_ENCODER = Mockito.mock(RelativeEncoder.class, REVLibErrorAnswer.ANSWER);
+    public static final SparkMaxAnalogSensor DUMMY_ANALOG_SENSOR = Mockito.mock(SparkMaxAnalogSensor.class, REVLibErrorAnswer.ANSWER);
+    public static final SparkMaxLimitSwitch DUMMY_LIMIT_SWITCH = Mockito.mock(SparkMaxLimitSwitch.class, REVLibErrorAnswer.ANSWER);
+    public static final SparkMaxPIDController DUMMY_PID_CONTROLLER = Mockito.mock(SparkMaxPIDController.class, REVLibErrorAnswer.ANSWER);
+
     @Override
     public Object answer(InvocationOnMock invocation) throws Throwable {
         Class<?> returnType = invocation.getMethod().getReturnType();
-        if(returnType == RelativeEncoder.class || returnType == SparkMaxAnalogSensor.class || returnType == SparkMaxAnalogSensor.class || returnType == SparkMaxLimitSwitch.class) {
-            return Mockito.mock(returnType, new REVLibErrorAnswer());
+        if(returnType == RelativeEncoder.class) {
+            return DUMMY_ENCODER;
+        } else if(returnType == SparkMaxAnalogSensor.class) {
+            return DUMMY_ANALOG_SENSOR;
+        } else if(returnType == SparkMaxLimitSwitch.class) {
+            return DUMMY_LIMIT_SWITCH;
         } else if(returnType == SparkMaxPIDController.class) {
-            return Mockito.mock(SparkMaxPIDController.class, new REVLibErrorAnswer() {
-                private static final long serialVersionUID = 558452215206948125L;
-                @Override
-                public Object answer(InvocationOnMock invocation) throws Throwable {
-                    if(invocation.getMethod().getReturnType() == AccelStrategy.class) {
-                        return AccelStrategy.kTrapezoidal;
-                    }
-                    return super.answer(invocation);
-                }
-            });
+            return DUMMY_PID_CONTROLLER;
         } else if(returnType == MotorType.class) {
             return MotorType.kBrushless;
         } else if(returnType == IdleMode.class) {
             return IdleMode.kBrake;
+        } else if(returnType == AccelStrategy.class) {
+            return AccelStrategy.kTrapezoidal;
         }
         return super.answer(invocation);
     }

src/main/java/frc/robot/lib/MotorControllerFactory.java

@@ -74,12 +74,12 @@ public static WPI_TalonSRX createTalon(int id) {
   public static CANSparkMax createSparkMax(int id) {
     CANSparkMax spark;
     if (RobotBase.isReal()) {
-        spark = new CachedSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
-        if (spark.getFirmwareVersion() == 0) {
-          spark.close();
-          System.err.println("SparkMax on port: " + id + " is not connected!");
-          return MotorErrors.createDummySparkMax();
-        }
+      spark = new CachedSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
+      if (spark.getFirmwareVersion() == 0) {
+        spark.close();
+        System.err.println("SparkMax on port: " + id + " is not connected!");
+        return MotorErrors.createDummySparkMax();
+      }
     } else {
         spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
     }

src/main/java/frc/robot/lib/MotorErrors.java

@@ -9,8 +9,6 @@
 import com.revrobotics.CANSparkMax.FaultID;
 import com.revrobotics.REVLibError;
 
-import org.mockito.Mockito;
-
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public final class MotorErrors {
@@ -98,7 +96,7 @@ public static void printSparkMaxErrorMessages() {
     }
 
     public static CANSparkMax createDummySparkMax() {
-        return Mockito.mock(CANSparkMax.class, new DummySparkMaxAnswer());
+        return DummySparkMaxAnswer.DUMMY_SPARK_MAX;
     }
 
     public static void reportSparkMaxTemp(CANSparkMax spark) {

src/main/java/frc/robot/lib/REVLibErrorAnswer.java

@@ -9,6 +9,8 @@ public class REVLibErrorAnswer extends ReturnsSmartNulls {
 
     private static final long serialVersionUID = -561160298532167923L;
 
+    public static final REVLibErrorAnswer ANSWER = new REVLibErrorAnswer();
+
     @Override
     public Object answer(InvocationOnMock invocation) throws Throwable {
         return invocation.getMethod().getReturnType().equals(REVLibError.class) ? REVLibError.kOk : super.answer(invocation);