Merge branch 'master' into async-periodic

Author: CoolSpy3

src/main/java/org/carlmontrobotics/lib199/CachedSparkMax.java

@@ -4,6 +4,7 @@
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxPIDController;
 
+@Deprecated
 public class CachedSparkMax extends CANSparkMax {
 
     private RelativeEncoder encoder;

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

@@ -120,14 +120,9 @@ public static CANSparkMax createSparkMax(int id, int temperatureLimit) {
   public static CANSparkMax createSparkMax(int id, MotorConfig config) {
     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 CANSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
     } else {
-        spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
+      spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
     }
 
     MotorErrors.reportSparkMaxTemp(spark, config.temperatureLimit);