replaced deprecated methods

Author: timtogan

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

@@ -14,6 +14,8 @@
 
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkBase;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel;
@@ -78,8 +80,8 @@ public static SparkMax createSparkMax(int id, MotorConfig motorConfig, SparkBase
     }
     MotorErrors.reportError(spark.configure(
       config, 
-      SparkBase.ResetMode.kResetSafeParameters,
-      SparkBase.PersistMode.kPersistParameters
+      ResetMode.kResetSafeParameters,
+      PersistMode.kPersistParameters
     ));
     MotorErrors.reportSparkTemp(spark, motorConfig.temperatureLimitCelsius);
     MotorErrors.checkSparkErrors(spark);
@@ -109,8 +111,8 @@ public static SparkFlex createSparkFlex(int id, MotorConfig motorConfig, SparkBa
     }
     MotorErrors.reportError(spark.configure(
       config, 
-      SparkBase.ResetMode.kResetSafeParameters,
-      SparkBase.PersistMode.kPersistParameters
+      ResetMode.kResetSafeParameters,
+      PersistMode.kPersistParameters
     ));
 
     MotorErrors.reportSparkTemp(spark, motorConfig.temperatureLimitCelsius);

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

@@ -6,7 +6,9 @@
 import java.util.concurrent.ConcurrentSkipListMap;
 
 import com.ctre.phoenix.ErrorCode;
+import com.revrobotics.PersistMode;
 import com.revrobotics.REVLibError;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkBase;
 import com.revrobotics.spark.SparkBase.Faults;
 import com.revrobotics.spark.SparkFlex;
@@ -187,14 +189,14 @@ private static void reportSparkTemp(int port, SparkBase spark) {
                 case SPARK_MAX:
                     spark.configure(
                         OVERHEAT_MAX_CONFIG,
-                        SparkBase.ResetMode.kNoResetSafeParameters,
-                        SparkBase.PersistMode.kNoPersistParameters);
+                        ResetMode.kNoResetSafeParameters,
+                        PersistMode.kNoPersistParameters);
                     break;
                 case SPARK_FLEX:
                     spark.configure(
                         OVERHEAT_FLEX_CONFIG,
-                        SparkBase.ResetMode.kNoResetSafeParameters,
-                        SparkBase.PersistMode.kNoPersistParameters);
+                        ResetMode.kNoResetSafeParameters,
+                        PersistMode.kNoPersistParameters);
                     break;
                 default:
                     System.err.println("Unknown spark :(");

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

@@ -4,8 +4,8 @@
 import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.SparkBase;
 import com.revrobotics.spark.SparkBase.ControlType;
-import com.revrobotics.spark.SparkBase.PersistMode;
-import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.config.ClosedLoopConfig;
 import edu.wpi.first.util.sendable.Sendable;
@@ -36,12 +36,12 @@ public SparkVelocityPIDController(String name, SparkBase spark, double defaultP,
                 this.currentI = defaultI,
                 this.currentD = defaultD
             )),
-            SparkBase.ResetMode.kNoResetSafeParameters,//we only want to change pid params
-            SparkBase.PersistMode.kNoPersistParameters);
+            ResetMode.kNoResetSafeParameters,//we only want to change pid params
+            PersistMode.kNoPersistParameters);
         this.kS = kS;
         this.kV = kV;
 
-        pidController.setReference(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
+        pidController.setSetpoint(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
 
         SendableRegistry.addLW(this, "SparkVelocityPIDController", spark.getDeviceId());
     }
@@ -65,7 +65,7 @@ public double getTargetSpeed() {
     public void setTargetSpeed(double targetSpeed) {
         if(targetSpeed == this.targetSpeed) return;
         this.targetSpeed = targetSpeed;
-        pidController.setReference(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
+        pidController.setSetpoint(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
     }
 
     public double getTolerance() {
@@ -99,7 +99,7 @@ public void initSendable(SendableBuilder builder) {
         });
         builder.addDoubleProperty("Target Speed", () -> targetSpeed, newSpeed -> {
             if(newSpeed == targetSpeed) return;
-            pidController.setReference(newSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(newSpeed));
+            pidController.setSetpoint(newSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(newSpeed));
             targetSpeed = newSpeed;
         });
         builder.addDoubleProperty("Tolerance", () -> tolerance, newTolerance -> tolerance = newTolerance);

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

@@ -9,8 +9,8 @@
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.spark.SparkBase;
-import com.revrobotics.spark.SparkBase.PersistMode;
-import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.config.SparkBaseConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkBaseConfigAccessor;

src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeCommandsTest.java

@@ -43,7 +43,7 @@ public void testCommand(Function<Command, Command> constructor, boolean isSafe,
         loggingCommand.reset();
 
         SafeMode.enable();
-        command.schedule();
+        CommandScheduler.getInstance().schedule(command);
         CommandScheduler.getInstance().run();
         if (isSafe || staysEnabled)
             assertTrue(command.isScheduled());
@@ -56,7 +56,7 @@ public void testCommand(Function<Command, Command> constructor, boolean isSafe,
         assertEquals(isSafe ? 1 : 0, loggingCommand.getExecuteCount());
 
         SafeMode.disable();
-        command.schedule();
+        CommandScheduler.getInstance().schedule(command);
         CommandScheduler.getInstance().run();
         if (!isSafe || staysEnabled)
             assertTrue(command.isScheduled());