Simple mechs merge into 2025

.github/workflows/javadoc.yml

@@ -17,13 +17,15 @@ jobs:
     - name: Generate Javadoc
       run: ./gradlew javadoc
     - name: Build Artifact
+      uses: actions/upload-pages-artifact@v4
       uses: actions/upload-pages-artifact@v4
       with:
         path: ./build/docs/javadoc
   deploy-javadoc:
     needs: build-javadoc
     if: ${{ github.ref == 'refs/heads/master' }}
     permissions:
+      actions: read
       actions: read
       pages: write
       id-token: write
@@ -34,4 +36,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v4
+        uses: actions/deploy-pages@v4

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

@@ -214,6 +214,11 @@ public Pose3d getTransform(Transform transform) {
         return new Pose3d(rawData[0], rawData[1], rawData[2], new Rotation3d(Math.toRadians(rawData[3]), Math.toRadians(rawData[4]), Math.toRadians(rawData[5])));
     }
 
+    /**
+     * Gets Limelight Network Tables
+     * @param key id of the NT
+     * @return the NT
+     */
     public NetworkTableEntry getNTEntry(String key) {
         return NetworkTableInstance.getDefault().getTable(config.ntName).getEntry(key);
     }

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

@@ -23,7 +23,20 @@
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkFlexConfig;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.ClosedLoopSlot;
+import com.revrobotics.spark.SparkBase;
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkLowLevel;
+import com.revrobotics.spark.SparkClosedLoopController;
+
+// import org.carlmontrobotics.lib199.sim.MockSparkFlex;
+// import org.carlmontrobotics.lib199.sim.MockSparkMax;
+import org.carlmontrobotics.lib199.sim.MockTalonSRX;
+import org.carlmontrobotics.lib199.sim.MockedCANCoder;
 
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**