deprecate MotorControllerFactory methods

Author: CoolSpy3

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

@@ -7,24 +7,29 @@
 
 package org.carlmontrobotics.lib199;
 
-import org.carlmontrobotics.MotorConfig;
-import org.carlmontrobotics.lib199.sim.MockSparkMax;
-import org.carlmontrobotics.lib199.sim.MockTalonSRX;
-import org.carlmontrobotics.lib199.sim.MockVictorSPX;
-
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+import com.ctre.phoenix.sensors.CANCoder;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.ExternalFollower;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel;
 import com.revrobotics.SparkMaxPIDController;
 
+import org.carlmontrobotics.MotorConfig;
+import org.carlmontrobotics.lib199.sim.MockSparkMax;
+import org.carlmontrobotics.lib199.sim.MockTalonSRX;
+import org.carlmontrobotics.lib199.sim.MockVictorSPX;
+import org.carlmontrobotics.lib199.sim.MockedCANCoder;
+
+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 motor controllers.
+ * Add your docs here.
  */
 public class MotorControllerFactory {
   public static WPI_VictorSPX createVictor(int port) {
@@ -145,4 +150,47 @@ 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);
+    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
+   *
+   * @deprecated Use {@link SensorFactory#configureCamera()} instead.
+   */
+  @Deprecated
+  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.
+   *
+   * @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();
+    return cameras;
+  }
+}

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

@@ -13,6 +13,13 @@
  * 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())