Merge pull request #33 from DeepBlueRobotics/motor-temp

Lower SparkMax Current Limits

Author: ProfessorAtomicManiac

src/main/java/org/carlmontrobotics/MotorConfig.java

@@ -0,0 +1,15 @@
+package org.carlmontrobotics;
+
+public class MotorConfig {
+
+    public static final MotorConfig NEO = new MotorConfig(70, 40);
+    public static final MotorConfig NEO_550 = new MotorConfig(40, 20);
+
+    public final int temperatureLimit, currentLimit;
+
+    public MotorConfig(int temperatureLimit, int currentLimit) {
+        this.temperatureLimit = temperatureLimit;
+        this.currentLimit = currentLimit;
+    }
+
+}

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

@@ -17,7 +17,7 @@
 import com.revrobotics.CANSparkMaxLowLevel;
 import com.revrobotics.SparkMaxPIDController;
 
-import org.carlmontrobotics.lib199.MotorErrors.TemperatureLimit;
+import org.carlmontrobotics.MotorConfig;
 import org.carlmontrobotics.lib199.sim.MockSparkMax;
 import org.carlmontrobotics.lib199.sim.MockTalonSRX;
 import org.carlmontrobotics.lib199.sim.MockVictorSPX;
@@ -78,10 +78,12 @@ public static WPI_TalonSRX createTalon(int id) {
 
   //checks for spark max errors
 
-  public static CANSparkMax createSparkMax(int id, TemperatureLimit temperatureLimit) {
+  @Deprecated
+  public static CANSparkMax createSparkMax(int id, MotorErrors.TemperatureLimit temperatureLimit) {
     return createSparkMax(id, temperatureLimit.limit);
   }
 
+  @Deprecated
   public static CANSparkMax createSparkMax(int id, int temperatureLimit) {
     CANSparkMax spark;
     if (RobotBase.isReal()) {
@@ -115,6 +117,39 @@ public static CANSparkMax createSparkMax(int id, int temperatureLimit) {
     return spark;
   }
 
+  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();
+      }
+    } else {
+        spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
+    }
+
+    MotorErrors.reportSparkMaxTemp(spark, config.temperatureLimit);
+
+    MotorErrors.reportError(spark.restoreFactoryDefaults());
+    MotorErrors.reportError(spark.follow(ExternalFollower.kFollowerDisabled, 0));
+    MotorErrors.reportError(spark.setIdleMode(IdleMode.kBrake));
+    MotorErrors.reportError(spark.enableVoltageCompensation(12));
+    MotorErrors.reportError(spark.setSmartCurrentLimit(config.currentLimit));
+
+    MotorErrors.checkSparkMaxErrors(spark);
+
+    SparkMaxPIDController controller = spark.getPIDController();
+    MotorErrors.reportError(controller.setOutputRange(-1, 1));
+    MotorErrors.reportError(controller.setP(0));
+    MotorErrors.reportError(controller.setI(0));
+    MotorErrors.reportError(controller.setD(0));
+    MotorErrors.reportError(controller.setFF(0));
+
+    return spark;
+  }
+
   public static CANCoder createCANCoder(int port) {
     CANCoder canCoder = new CANCoder(port);
     if(RobotBase.isSimulation()) new MockedCANCoder(canCoder);

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

@@ -99,6 +99,7 @@ public static CANSparkMax createDummySparkMax() {
         return DummySparkMaxAnswer.DUMMY_SPARK_MAX;
     }
 
+    @Deprecated
     public static void reportSparkMaxTemp(CANSparkMax spark, TemperatureLimit temperatureLimit) {
         reportSparkMaxTemp(spark, temperatureLimit.limit);
     }
@@ -126,6 +127,7 @@ public static void doReportSparkMaxTemp() {
 
     private MotorErrors() {}
 
+    @Deprecated
     public static enum TemperatureLimit {
         NEO(70), NEO_550(40);