resolved a few comments

Author: timtogan

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

@@ -157,6 +157,28 @@ public static SparkFlex createSparkFlex(int id, SparkBaseConfig config) {
     return spark;
   }
 
+  public static SparkBaseConfig createConfig(MotorControllerType type) {
+    SparkBaseConfig config = null;
+    switch(type){
+      case SPARK_MAX:
+        config = new SparkMaxConfig();
+        break;
+      case SPARK_FLEX:
+        config = new SparkFlexConfig();
+        break;
+    }
+    return config;
+  }
+
+  public static MotorControllerType getControllerType(SparkBase motor){
+    if(motor instanceof SparkMax){
+      return MotorControllerType.SPARK_MAX;
+    }else if(motor instanceof SparkFlex){
+      return MotorControllerType.SPARK_FLEX;
+    }
+    return null;
+  }
+
   public static SparkBaseConfig sparkConfig(SparkMotorType motor){
     SparkBaseConfig config = null;
     switch(motor.getControllerType()){

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

@@ -18,6 +18,8 @@
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
+import org.carlmontrobotics.lib199.MotorControllerFactory;
+
 public final class MotorErrors {
 
     private static final Map<Integer, SparkBase> temperatureSparks = new ConcurrentSkipListMap<>();
@@ -183,18 +185,21 @@ private static void reportSparkTemp(int port, SparkBase spark) {
                 System.err.println("Port " + port + " spark is operating at " + temp
                         + " degrees Celsius! It will be disabled until the robot code is restarted.");
             }
-            if (spark.getClass() == SparkMax.class) {
-                spark.configure(
-                    OVERHEAT_MAX_CONFIG,
-                    SparkBase.ResetMode.kNoResetSafeParameters,
-                    SparkBase.PersistMode.kNoPersistParameters);
-            } else if (spark.getClass() == SparkFlex.class) {
-                spark.configure(
-                    OVERHEAT_FLEX_CONFIG,
-                    SparkBase.ResetMode.kNoResetSafeParameters,
-                    SparkBase.PersistMode.kNoPersistParameters);
-            }else{
-                System.err.println("Unknown spark :(");
+            switch(MotorControllerFactory.getControllerType(spark)){
+                case SPARK_MAX:
+                    spark.configure(
+                        OVERHEAT_MAX_CONFIG,
+                        SparkBase.ResetMode.kNoResetSafeParameters,
+                        SparkBase.PersistMode.kNoPersistParameters);
+                    break;
+                case SPARK_FLEX:
+                    spark.configure(
+                        OVERHEAT_FLEX_CONFIG,
+                        SparkBase.ResetMode.kNoResetSafeParameters,
+                        SparkBase.PersistMode.kNoPersistParameters);
+                    break;
+                default:
+                    System.err.println("Unknown spark :(");
             }
         }
     }

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

@@ -6,6 +6,7 @@
 
 import java.util.function.Supplier;
 
+import org.carlmontrobotics.lib199.MotorControllerType;
 import org.carlmontrobotics.lib199.SparkMotorType;
 import org.mockito.internal.reporting.SmartPrinter;
 
@@ -73,26 +74,26 @@ public enum ModuleType {FL, FR, BL, BR};
     private static final int ENCODER_POSITION_PERIOD_MS = 20;
     private int encoderAverageDepth = 2;
 
-    SparkMotorType driveMotorType;
-    SparkMotorType turnMotorType;
+    MotorControllerType driveMotorType;
+    MotorControllerType turnMotorType;
 
-    public SwerveModule(SwerveConfig config, ModuleType type, SparkBase drive, SparkBase turn, SparkMotorType driveMotorType, SparkMotorType turnMotorType, CANcoder turnEncoder,
+    public SwerveModule(SwerveConfig config, ModuleType type, SparkBase drive, SparkBase turn, MotorControllerType driveMotorType, MotorControllerType turnMotorType, CANcoder turnEncoder,
                         int arrIndex, Supplier<Float> pitchDegSupplier, Supplier<Float> rollDegSupplier) {
         this.driveMotorType = driveMotorType;
         this.turnMotorType = turnMotorType;
         switch(driveMotorType) {
-            case NEO, NEO550, NEO_2, SOLO_VORTEX:
+            case SPARK_MAX:
                 driveConfig = new SparkMaxConfig();
                 break;
-            case VORTEX:
+            case SPARK_FLEX:
                 driveConfig = new SparkFlexConfig();
                 break;
         }
         switch(turnMotorType) {
-            case NEO, NEO550, NEO_2, SOLO_VORTEX:
+            case SPARK_MAX:
                 turnConfig = new SparkMaxConfig();
                 break;
-            case VORTEX:
+            case SPARK_FLEX:
                 turnConfig = new SparkFlexConfig();
                 break;
         }
@@ -466,10 +467,10 @@ public void brake() {
         idleMode = IdleMode.kBrake;
         SparkBaseConfig config = null;
         switch(driveMotorType){
-            case NEO, NEO550, NEO_2, SOLO_VORTEX:
+            case SPARK_MAX:
                 config = new SparkMaxConfig().idleMode(IdleMode.kBrake);
                 break;
-            case VORTEX:
+            case SPARK_FLEX:
                 config = new SparkFlexConfig().idleMode(IdleMode.kBrake);
                 break;
         }
@@ -481,10 +482,10 @@ public void coast() {
         idleMode = IdleMode.kCoast;
         SparkBaseConfig config = null;
         switch(driveMotorType){
-            case NEO, NEO550, NEO_2, SOLO_VORTEX:
+            case SPARK_MAX:
                 config = new SparkMaxConfig().idleMode(IdleMode.kCoast);
                 break;
-            case VORTEX:
+            case SPARK_FLEX:
                 config = new SparkFlexConfig().idleMode(IdleMode.kCoast);
                 break;
         }