Motor naming scheme changes

build.gradle

@@ -104,13 +104,6 @@ allprojects {
     }
 }
 
-/*
-task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
-    mainClass = "org.littletonrobotics.junction.CheckInstall"
-    classpath = sourceSets.main.runtimeClasspath
-}
-compileJava.finalizedBy checkAkitInstall
- */
 
 wpi.java.configureExecutableTasks(jar)
 wpi.java.configureTestTasks(test)

src/main/java/frc/chargerlibexternal/builddata/ChargerLibBuildConstants.java

@@ -7,12 +7,12 @@ public final class ChargerLibBuildConstants {
 	public static final String MAVEN_GROUP = "frc.chargers";
 	public static final String MAVEN_NAME = "ChargerLib";
 	public static final String VERSION = "1.0.0";
-	public static final int GIT_REVISION = 264;
-	public static final String GIT_SHA = "8e4c95b743ed5868a6845f080b865f9124e386e9";
-	public static final String GIT_DATE = "2024-01-10T21:55:23Z";
+	public static final int GIT_REVISION = 265;
+	public static final String GIT_SHA = "ee7f4b7338449c562107ed35bd7ed41ee07a969d";
+	public static final String GIT_DATE = "2024-01-10T22:13:04Z";
 	public static final String GIT_BRANCH = "master";
-	public static final String BUILD_DATE = "2024-01-10T22:08:12Z";
-	public static final long BUILD_UNIX_TIME = 1704942492477L;
+	public static final String BUILD_DATE = "2024-01-10T22:57:40Z";
+	public static final long BUILD_UNIX_TIME = 1704945460325L;
 	public static final int DIRTY = 1;
 
 	private ChargerLibBuildConstants(){}

src/main/kotlin/frc/chargers/hardware/motorcontrol/ctre/ChargerTalonFX.kt

@@ -19,40 +19,11 @@ import frc.chargers.hardware.configuration.safeConfigure
 import frc.chargers.hardware.motorcontrol.*
 import frc.chargers.hardware.sensors.encoders.ResettableEncoder
 import frc.chargers.utils.math.inputModulus
-import frc.chargers.wpilibextensions.delay
 import com.ctre.phoenix6.configs.TalonFXConfiguration
 
 /**
- * Creates an instance of a falcon motor, controlled by a TalonFX motor controller.
- *
- * This function supports inline configuration using the "[configure]" lambda function,
- * which has the context of a [ChargerTalonFXConfiguration].
- *
- * You do not need to manually factory default this motor, as it is factory defaulted on startup,
- * before configuration. This setting can be changed by setting factoryDefault = false.
- *
- * ```
- * // example
- * val motor = falcon(canId = 6){ feedbackRemoteSensorId = 5 }
+ * An adaptor to the encoder of a [TalonFX].
  */
-public fun falcon(
-    canId: Int,
-    canBus: String = "rio",
-    factoryDefault: Boolean = true,
-    configure: ChargerTalonFXConfiguration.() -> Unit = {}
-): ChargerTalonFX = ChargerTalonFX(canId, canBus).apply {
-    // factory defaults configs on startup when factoryDefault = true
-    if (factoryDefault) {
-        configurator.apply(TalonFXConfiguration(), 0.02)
-    }
-    val config = ChargerTalonFXConfiguration().apply(configure)
-    if (config != ChargerTalonFXConfiguration()){
-        configure(config)
-    }
-}
-
-
-
 public class TalonFXEncoderAdapter(
     private val motorController: TalonFX
 ): ResettableEncoder {
@@ -76,17 +47,65 @@ public class TalonFXEncoderAdapter(
 
 
 
+/**
+ * Creates an instance of a [ChargerTalonFX] through a "[configure]" lambda function,
+ * which has the context of a [ChargerTalonFXConfiguration].
+ *
+ * ```
+ * // example
+ * val motor = ChargerTalonFX(canId = 6){ feedbackRemoteSensorId = 5 }
+ */
+public inline fun ChargerTalonFX(
+    deviceId: Int,
+    canBus: String = "rio",
+    factoryDefault: Boolean = true,
+    configure: ChargerTalonFXConfiguration.() -> Unit
+): ChargerTalonFX = ChargerTalonFX(
+    deviceId, canBus, factoryDefault,
+    ChargerTalonFXConfiguration().apply(configure)
+)
+
+
+
+
 /**
  * Represents a TalonFX motor controller.
  * Includes everything in the CTRE TalonFX class,
  * but has additional features to mesh better with the rest
  * of this library.
  *
+ * Creating an instance of this class factory will factory default the motor;
+ * set factoryDefault = false to turn this off.
+ *
  * @see com.ctre.phoenix6.hardware.TalonFX
  * @see ChargerTalonFXConfiguration
  */
-public open class ChargerTalonFX(deviceNumber: Int, canBus: String = "rio"):
-    TalonFX(deviceNumber, canBus), SmartEncoderMotorController, HardwareConfigurable<ChargerTalonFXConfiguration> {
+public open class ChargerTalonFX(
+    deviceId: Int,
+    canBus: String = "rio",
+    factoryDefault: Boolean = true,
+    configuration: ChargerTalonFXConfiguration? = null
+): TalonFX(deviceId, canBus), SmartEncoderMotorController, HardwareConfigurable<ChargerTalonFXConfiguration> {
+
+    init{
+        val baseConfig = TalonFXConfiguration()
+        var baseConfigHasChanged = false
+
+        if (!factoryDefault){
+            configurator.refresh(baseConfig)
+            baseConfigHasChanged = true
+        }
+
+        if (configuration != null){
+            applyChanges(baseConfig, configuration)
+            baseConfigHasChanged = true
+        }
+
+        if (baseConfigHasChanged){
+            configurator.apply(baseConfig)
+        }
+    }
+
 
     @Suppress("LeakingThis") // Known to be safe; CTREMotorControllerEncoderAdapter ONLY uses final functions
     // and does not pass around the reference to this class.
@@ -265,7 +284,6 @@ public open class ChargerTalonFX(deviceNumber: Int, canBus: String = "rio"):
             if (RobotBase.isSimulation()){
                 println("A Phoenix Device did not configure properly; however, this was ignored because the code is running in simulation.")
             }else{
-                delay(200.milli.seconds)
                 allConfigErrors.add(this)
                 configAppliedProperly = false
             }

src/main/kotlin/frc/chargers/hardware/motorcontrol/ctre/ChargerTalonSRX.kt

@@ -79,22 +79,65 @@ public class TalonSRXEncoderAdapter(
     }
 }
 
+
+
+
+/**
+ * Creates an instance of a [ChargerTalonSRX] through a "[configure]" lambda function,
+ * which has the context of a [ChargerTalonSRXConfiguration].
+ *
+ * ```
+ * // example
+ * val motor = ChargerTalonSRX(canId = 6){ feedbackRemoteSensorId = 5 }
+ */
+public inline fun ChargerTalonSRX(
+    deviceNumber: Int,
+    encoderTicksPerRotation: Int,
+    factoryDefault: Boolean = true,
+    configure: ChargerTalonSRXConfiguration.() -> Unit
+): ChargerTalonSRX = ChargerTalonSRX(
+    deviceNumber, encoderTicksPerRotation, factoryDefault,
+    ChargerTalonSRXConfiguration().apply(configure)
+)
+
+
+
+
 /**
  * Represents a TalonSRX motor controller.
  * Includes everything in the CTRE TalonSRX class,
  * but has additional features to mesh better with the rest
  * of this library.
- * Note: The ChargerTalonSRX still uses phoenix v5, as phoenix v6 scraps support for the TalonSRX.
+ *
+ *
+ * Creating an instance of this class factory will factory default the motor;
+ * set factoryDefault = false to turn this off.
+ *
+ * In addition, the ChargerTalonSRX still uses phoenix v5,
+ * as phoenix v6 scraps support for the TalonSRX.
  *
  * @see com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX
  * @see ChargerTalonSRXConfiguration
  */
-public open class ChargerTalonSRX(
+public class ChargerTalonSRX(
     deviceNumber: Int,
-    private val encoderTicksPerRotation: Int
+    private val encoderTicksPerRotation: Int,
+    factoryDefault: Boolean = true,
+    configuration: ChargerTalonSRXConfiguration? = null
 ) : WPI_TalonSRX(deviceNumber), EncoderMotorController, HardwareConfigurable<ChargerTalonSRXConfiguration>{
 
-    final override val encoder: Encoder
+    init{
+        if (factoryDefault){
+            configFactoryDefault()
+        }
+
+        if (configuration != null){
+            configure(configuration)
+        }
+    }
+
+
+    override val encoder: Encoder
         get() = TalonSRXEncoderAdapter(
             ctreMotorController = this,
             pidIndex = 0,
@@ -140,7 +183,7 @@ public open class ChargerTalonSRX(
     }
 
 
-    final override fun configure(configuration: ChargerTalonSRXConfiguration) {
+    override fun configure(configuration: ChargerTalonSRXConfiguration) {
         configuration.inverted?.let(::setInverted)
         configuration.expiration?.let { expiration = it.inUnit(seconds) }
         configuration.safetyEnabled?.let(::setSafetyEnabled)

src/main/kotlin/frc/chargers/hardware/motorcontrol/rev/ChargerSparkFlex.kt

@@ -16,35 +16,6 @@ import frc.chargers.hardware.motorcontrol.rev.util.*
 import frc.chargers.utils.revertIfInvalid
 import frc.chargers.wpilibextensions.delay
 
-/**
- * A convenience function to create a [ChargerSparkFlex].
- *
- * This function supports inline configuration using the "[configure]" lambda function,
- * which has the context of a [ChargerSparkMaxConfiguration] object.
- *
- * You do not need to manually factory default this motor, as it is factory defaulted on startup,
- * before configuration. This setting can be changed by setting factoryDefault = false.
- *
- * Example:
- * ```
- * val neo = neoSparkFlex(deviceId = 5){ inverted = false }
- */
-public inline fun neoSparkFlex(
-    deviceId: Int,
-    factoryDefault: Boolean = true,
-    configure: ChargerSparkFlexConfiguration.() -> Unit = {}
-): ChargerSparkFlex = ChargerSparkFlex(deviceId)
-    .apply {
-        if (factoryDefault) {
-            restoreFactoryDefaults()
-            delay(200.milli.seconds)
-            println("SparkFlex has been factory defaulted.")
-        }
-        val config = ChargerSparkFlexConfiguration().apply(configure)
-        configure(config)
-    }
-
-
 
 /**
  * Represents a type of spark flex encoder.
@@ -110,19 +81,62 @@ public class ChargerSparkFlexConfiguration(
 
 
 
+/**
+ * A convenience function to create a [ChargerSparkFlex],
+ * which uses a function with the context of a [ChargerSparkFlexConfiguration]
+ * to configure the motor.
+ *
+ * Like the constructor, this function factory defaults the motor by default;
+ * set factoryDefault = false to turn this off.
+ *
+ * ```
+ * // example
+ * val neo = ChargerSparkFlex(5){ inverted = false }
+ */
+public inline fun ChargerSparkFlex(
+    deviceId: Int,
+    factoryDefault: Boolean = true,
+    configure: ChargerSparkFlexConfiguration.() -> Unit
+): ChargerSparkFlex = ChargerSparkFlex(
+    deviceId, factoryDefault,
+    ChargerSparkFlexConfiguration().apply(configure)
+)
+
+
+
+
 /**
  * A wrapper around REV's [CANSparkFlex], with support for Kmeasure units
  * and integration with the rest of the library.
+ *
+ * Creating an instance of this class factory will factory default the motor;
+ * set factoryDefault = false to turn this off.
+ *
+ * @see ChargerSparkFlexConfiguration
+ * @see com.revrobotics.CANSparkFlex
  */
-public class ChargerSparkFlex(deviceId: Int) :
-    CANSparkFlex(deviceId, MotorType.kBrushless), SmartEncoderMotorController, HardwareConfigurable<ChargerSparkFlexConfiguration> {
+public class ChargerSparkFlex(
+    deviceId: Int,
+    factoryDefault: Boolean = true,
+    configuration: ChargerSparkFlexConfiguration? = null
+) : CANSparkFlex(deviceId, MotorType.kBrushless), SmartEncoderMotorController, HardwareConfigurable<ChargerSparkFlexConfiguration> {
+
+    init{
+        if (factoryDefault) {
+            restoreFactoryDefaults()
+            delay(200.milli.seconds)
+            println("SparkMax has been factory defaulted.")
+        }
+        if (configuration != null){
+            configure(configuration)
+        }
+    }
 
     private var encoderType: SparkFlexEncoderType = SparkFlexEncoderType.Regular()
 
     override var encoder: SparkEncoderAdaptor = getEncoder(encoderType)
         private set
 
-
     private fun getEncoder(encoderType: SparkFlexEncoderType): SparkEncoderAdaptor{
         this.encoderType = encoderType
 
@@ -192,7 +206,6 @@ public class ChargerSparkFlex(deviceId: Int) :
             .also{ previousVoltage = it }
 
 
-
     /**
      * Adds a generic amount of followers to the Spark Max.
      *