applied NeoConfig to all neos

src/main/java/frc/robot/commands/shooter/Shooter.java

@@ -22,7 +22,7 @@ public Shooter(ShooterSubsystem shooter) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    _shooter.spinMotor();
+    _shooter.spinMotors();
   }
 
   // Called every time the scheduler runs while the command is scheduled.

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -6,6 +6,7 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
+import frc.robot.utils.NeoConfig;
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
@@ -27,17 +28,17 @@ public class ShooterSubsystem extends SubsystemBase {
 
   /** Creates a new ShooterSubsystem. */
   public ShooterSubsystem() {
-    _rightMotor.follow(_leftMotor,true);
+    NeoConfig.configureNeo(_leftMotor, true);
+    NeoConfig.configureFollowerNeo(_rightMotor, _leftMotor, true);
   }
 
-
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
 
-  public void spinMotor() {
-    _leftMotor.set(-1.0);
+  public void spinMotors() {
+    _leftMotor.set(1.0);
   }
 
   public void stopMotors() {
@@ -48,14 +49,15 @@ public void stopMotors() {
   public double getShooterVelocity(){
     double neo_rps = _leftEncoder.getVelocity() / 60;
 
-    return(neo_rps / Constants.Physical.SHOOTER_GEAR_RATIO ) * Constants.Physical.SHOOTER_FLYWHEEL_CIRCUMFERENCE;
+    return (neo_rps / Constants.Physical.SHOOTER_GEAR_RATIO) * Constants.Physical.SHOOTER_FLYWHEEL_CIRCUMFERENCE;
   }
 
   /** Set the velocity of the back wheels in m/s. */
   public void setVelocity(double velocity){
     double flywheel_output = (velocity / Constants.Speeds.SHOOTER_MAX_SPEED); // FEEDFORWARD (main output)
     double flywheel_pid = _shooterController.calculate(getShooterVelocity(), velocity); // PID for distrubances
 
+    // a similar controller setup can be found in SwerveModule
     _leftMotor.set(flywheel_output + flywheel_pid);
   }
 }

src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java

@@ -187,7 +187,7 @@ public void periodic() {
             });
 
     if (_visionSubsystem.isApriltagVisible()) {
-      _estimator.addVisionMeasurement(_visionSubsystem.getBotpose(), Timer.getFPGATimestamp());
+      _estimator.addVisionMeasurement(_visionSubsystem.get_botpose(), Timer.getFPGATimestamp());
     }
 
     _field.setRobotPose(_pose);

src/main/java/frc/robot/subsystems/VisionSubsystem.java

@@ -14,10 +14,10 @@
  * @author Alex Reyes
  */
 public class VisionSubsystem extends SubsystemBase {
-  NetworkTableInstance inst = NetworkTableInstance.getDefault();
-  NetworkTable limelight = inst.getTable("limelight");
+  private final NetworkTableInstance _inst = NetworkTableInstance.getDefault();
+  private final NetworkTable _limelight = _inst.getTable("limelight");
 
-  private double[] botpose = new double[6];
+  private double[] _botpose = new double[6];
 
   /** Creates a new VisionSubsystem. */
   public VisionSubsystem() {}
@@ -33,12 +33,12 @@ public void periodic() {
     // SmartDashboard.putData("Limelight Field", _field);
   }
 
-  public Pose2d getBotpose() {
-    botpose = limelight.getEntry("botpose_wpiblue").getDoubleArray(botpose);
+  public Pose2d get_botpose() {
+    _botpose = _limelight.getEntry("botpose_wpiblue").getDoubleArray(_botpose);
 
-    double botposeX = botpose[0];
-    double botposeY = botpose[1];
-    double botposeYaw = Math.toRadians(botpose[5]);
+    double botposeX = _botpose[0];
+    double botposeY = _botpose[1];
+    double botposeYaw = Math.toRadians(_botpose[5]);
 
     Rotation2d botposeRotation = new Rotation2d(botposeYaw);
     Pose2d botPose2D = new Pose2d(botposeX, botposeY, botposeRotation);
@@ -48,7 +48,7 @@ public Pose2d getBotpose() {
   }
 
   public boolean isApriltagVisible() {
-    double tv = limelight.getEntry("tv").getDouble(0);
+    double tv = _limelight.getEntry("tv").getDouble(0);
     if (tv == 0) {
       return false;
     }

src/main/java/frc/robot/utils/NeoConfig.java

@@ -12,13 +12,30 @@
  * @author Ze Rui Zheng
  * @author Elvis Osmanov
  */
+
+/** For configuring Neos (with CANSparkMax). */
 public class NeoConfig {
+    /** 
+     * Basic Neo (with CANSparkMax) config, sets Falcon to factory defaults, sets encoder to 0,
+     * and sets Neo to Brake neutral mode.
+     * 
+     * @param neo - The CANSparkMax (with Neo) to configure.
+     * @param invert - Whether to invert the motor or not.
+     */
     public static void configureNeo(CANSparkMax neo, boolean invert) {
         neo.setIdleMode(IdleMode.kCoast);
         neo.enableSoftLimit(SoftLimitDirection.kForward, false);
         neo.enableSoftLimit(SoftLimitDirection.kReverse, false);
         neo.setInverted(invert);
     }
+
+    /**
+     * Configure a follower of a master Neo motor.
+     * 
+     * @param neo - The Neo (with CANSparkMax) to config.
+     * @param master - The master motor.
+     * @param opposeMaster - Whether to oppose the master or not.
+     */
     public static void configureFollowerNeo(CANSparkMax neo, CANSparkMax master, boolean opposeMaster) {
         configureNeo(neo, false);
         neo.follow(master);

src/main/java/frc/robot/utils/SwerveModule.java

@@ -33,12 +33,12 @@ public class SwerveModule {
    * Represents a single swerve module built with talons for rotation and drive control, and a
    * cancoder for angle.
    *
-   * @param driveMotorId CAN ID of drive motor.
-   * @param rotationMotorId CAN ID of rotation motor.
-   * @param encoderId CAN ID of cancoder.
-   * @param angleOffset Angle offset to add to the absolute cancoder.
-   * @param driveP kP for the drive controller.
-   * @param rotationP kP for the rotation controller.
+   * @param driveMotorId - CAN ID of drive motor.
+   * @param rotationMotorId - CAN ID of rotation motor.
+   * @param encoderId - CAN ID of cancoder.
+   * @param angleOffset - Angle offset to add to the absolute cancoder.
+   * @param driveP - kP for the drive controller.
+   * @param rotationP - kP for the rotation controller.
    */
   public SwerveModule(
       int driveMotorId,

src/main/java/frc/robot/utils/TalonFXConfig.java

@@ -19,18 +19,21 @@
 public class TalonFXConfig {
   /**
    * Basic Falcon config, sets Falcon to factory defaults, sets encoder to 0, and sets Falcon
-   * deadband and sets Falcon to Brake neutral mode.
+   * deadband and sets Falcon to Coast neutral mode.
    *
    * @param falcon - The Falcon to config.
+   * 
+   * @return The configuration object applied to the Falcon. 
    */
   public static TalonFXConfiguration configureFalcon(TalonFX falcon, boolean invert) {
+    // TODO: will prob need to add the code to zero encoder
     TalonFXConfiguration config = new TalonFXConfiguration();
 
     falcon.getConfigurator().DefaultTimeoutSeconds = Constants.CAN.CAN_TIMEOUT;
     falcon.getConfigurator().refresh(config);
 
-        config.MotorOutput.DutyCycleNeutralDeadband = 0.01;
-        config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
+    config.MotorOutput.DutyCycleNeutralDeadband = 0.01;
+    config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
 
     config.MotorOutput.Inverted =
         invert ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;

src/main/java/frc/robot/utils/UtilFuncs.java

@@ -8,8 +8,8 @@ public final class UtilFuncs {
   /**
    * Applies deadband to a certain value.
    *
-   * @param val The value to deadband.
-   * @param deadband The deadband to apply.
+   * @param val - The value to deadband.
+   * @param deadband - The deadband to apply.
    * @return The new value with deadband applied.
    */
   public static double ApplyDeadband(double val, double deadband) {