resolved comments

Author: timtogan

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

@@ -79,7 +79,7 @@ public static SparkMax createSparkMax(int id, MotorConfig motorConfig, SparkBase
     MotorErrors.reportError(spark.configure(
       config, 
       SparkBase.ResetMode.kResetSafeParameters,
-      SparkBase.PersistMode.kNoPersistParameters
+      SparkBase.PersistMode.kPersistParameters
     ));
     MotorErrors.reportSparkTemp(spark, motorConfig.temperatureLimitCelsius);
     MotorErrors.checkSparkErrors(spark);
@@ -110,7 +110,7 @@ public static SparkFlex createSparkFlex(int id, MotorConfig motorConfig, SparkBa
     MotorErrors.reportError(spark.configure(
       config, 
       SparkBase.ResetMode.kResetSafeParameters,
-      SparkBase.PersistMode.kNoPersistParameters
+      SparkBase.PersistMode.kPersistParameters
     ));
 
     MotorErrors.reportSparkTemp(spark, motorConfig.temperatureLimitCelsius);

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

@@ -33,8 +33,8 @@ public SparkVelocityPIDController(String name, SparkBase spark, double defaultP,
         this.name = name;
         this.targetSpeed = targetSpeed;
         this.tolerance = tolerance;
-        
-        spark.configure(MotorControllerFactory.sparkConfig(MotorConfig.NEO).apply(
+
+        spark.configure(MotorControllerType.getMotorControllerType(spark).createConfig().apply(
             new ClosedLoopConfig().pid(
                 this.currentP = defaultP,
                 this.currentI = defaultI,
@@ -85,7 +85,7 @@ public double calculateFF(double velocity) {
     }
 
     private void instantClosedLoopConfig(ClosedLoopConfig clConfig) {
-        spark.configure(MotorControllerFactory.sparkConfig(MotorConfig.NEO).apply(clConfig), ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
+        spark.configure(MotorControllerType.getMotorControllerType(spark).createConfig().apply(clConfig), ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
     }
 
     @Override

src/main/java/org/carlmontrobotics/lib199/sim/MockSparkBase.java

@@ -52,7 +52,7 @@ public class MockSparkBase extends MockedMotorBase {
     private SparkAnalogSensorSim analogSensorImpl = null;
     private final String name;
 
-    public enum NEOType { //is it fine if we make it public so that MotorControllerFactory can access it?
+    public enum NEOType { 
         NEO(DCMotor.getNEO(1)),
         NEO550(DCMotor.getNeo550(1)),
         VORTEX(DCMotor.getNeoVortex(1)),  

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

@@ -446,7 +446,7 @@ public void updateSmartDashboard() {
     }
 
     public void toggleMode() {
-        if (driveConfigAccessor.getIdleMode() == IdleMode.kBrake && turnConfigAccessor.getIdleMode() == IdleMode.kCoast) coast();
+        if (driveConfigAccessor.getIdleMode() == IdleMode.kBrake && turnConfigAccessor.getIdleMode() == IdleMode.kBrake) coast();
         else brake();
     }