Merge branch 'master' into safe-mode-2

Author: CoolSpy3

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

@@ -144,6 +144,10 @@ public static CANSparkMax createSparkMax(int id, MotorConfig config) {
     return spark;
   }
 
+  /**
+   * @deprecated Use {@link SensorFactory#createCANCoder(int)} instead.
+   */
+  @Deprecated
   public static CANCoder createCANCoder(int port) {
     CANCoder canCoder = new CANCoder(port);
     if(RobotBase.isSimulation()) new MockedCANCoder(canCoder);
@@ -156,7 +160,10 @@ public static CANCoder createCANCoder(int port) {
    * This MUST be called AFTER AHRS initialization or the code will be unable to connect to the gyro.
    *
    * @return The configured camera
+   *
+   * @deprecated Use {@link SensorFactory#configureCamera()} instead.
    */
+  @Deprecated
   public static UsbCamera configureCamera() {
     UsbCamera camera = CameraServer.startAutomaticCapture();
     camera.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
@@ -171,7 +178,10 @@ public static UsbCamera configureCamera() {
    *
    * @param numCameras The number of cameras to configure
    * @return The configured cameras.
+   *
+   * @deprecated Use {@link SensorFactory#configureCameras(int)} instead.
    */
+  @Deprecated
   public static UsbCamera[] configureCameras(int numCameras) {
     UsbCamera[] cameras = new UsbCamera[numCameras];
     for(int i = 0; i < numCameras; i++) cameras[i] = configureCamera();

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

@@ -0,0 +1,61 @@
+package org.carlmontrobotics.lib199;
+
+import org.carlmontrobotics.lib199.sim.MockedCANCoder;
+
+import com.ctre.phoenix.sensors.CANCoder;
+
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * A class containing methods to create and configure sensors.
+ */
+public class SensorFactory {
+
+    /**
+     * Creates a CANCoder object, linking it to the simulator if necessary
+     *
+     * @param port The CAN ID of the CANCoder
+     * @return The CANCoder object
+     */
+    public static CANCoder createCANCoder(int port) {
+        CANCoder canCoder = new CANCoder(port);
+        if (RobotBase.isSimulation())
+            new MockedCANCoder(canCoder);
+        return canCoder;
+    }
+
+    /**
+     * Configures a USB Camera.
+     * See {@link CameraServer#startAutomaticCapture} for more details.
+     * This MUST be called AFTER AHRS initialization or the code will be unable to
+     * connect to the gyro.
+     *
+     * @return The configured camera
+     */
+    public static UsbCamera configureCamera() {
+        UsbCamera camera = CameraServer.startAutomaticCapture();
+        camera.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
+        CameraServer.getServer().setSource(camera);
+        return camera;
+    }
+
+    /**
+     * This method is equivalent to calling {@link #configureCamera()}
+     * {@code numCameras} times.
+     * The last camera will be set as the primary Camera feed.
+     * To change it, call {@code CameraServer.getServer().setSource()}.
+     *
+     * @param numCameras The number of cameras to configure
+     * @return The configured cameras.
+     */
+    public static UsbCamera[] configureCameras(int numCameras) {
+        UsbCamera[] cameras = new UsbCamera[numCameras];
+        for (int i = 0; i < numCameras; i++)
+            cameras[i] = configureCamera();
+        return cameras;
+    }
+
+}

src/main/java/org/carlmontrobotics/lib199/safeMode/SafeCommand.java

@@ -8,6 +8,10 @@
  */
 public class SafeCommand extends WrapperCommand {
 
+    static {
+        SafeMode.ensureInitialized();
+    }
+
     /**
      * Creates a new SafeCommand
      * @param command The command to run

src/main/java/org/carlmontrobotics/lib199/safeMode/SafeExecuteBlockingCommand.java

@@ -11,6 +11,10 @@
  */
 public class SafeExecuteBlockingCommand extends WrapperCommand {
 
+    static {
+        SafeMode.ensureInitialized();
+    }
+
     public SafeExecuteBlockingCommand(Command command) {
         super(command);
     }

src/main/java/org/carlmontrobotics/lib199/safeMode/SafeMode.java

@@ -46,6 +46,12 @@ public class SafeMode {
         Lib199Subsystem.registerPeriodic(SafeMode::updateCallbacks);
     }
 
+    /**
+     * Ensures that the static block of this class is called, setting up safe-mode.
+     * It is unlikely that you will need to call this function.
+     */
+    public static void ensureInitialized() {}
+
     /**
      * Enables safe-mode
      */

src/main/java/org/carlmontrobotics/lib199/safeMode/UnsafeCommand.java

@@ -8,6 +8,10 @@
  */
 public class UnsafeCommand extends WrapperCommand {
 
+    static {
+        SafeMode.ensureInitialized();
+    }
+
     public UnsafeCommand(Command command) {
         super(new EndBlockingCommand(command));
     }

src/main/java/org/carlmontrobotics/lib199/safeMode/UnsafeExecuteBlockingCommand.java

@@ -11,6 +11,10 @@
  */
 public class UnsafeExecuteBlockingCommand extends WrapperCommand {
 
+    static {
+        SafeMode.ensureInitialized();
+    }
+
     public UnsafeExecuteBlockingCommand(Command command) {
         super(command);
     }