Simple mechs merge into 2025 #118
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For some reason all the files were not in lib199 but only in carlmontrobotics
Removed state enum cause did not able to work nicely how I thought
Created a detailed plug and play common mechs that allow programming not to waste time reinventing the wheel each year
Hopefully it works
timtogan
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Jan 11, 2026
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timtogan
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This looks pretty good! I mostly skimed over the code, so I'll prob do another review when I have time. Also fyi, some comments I left only for one mech but it can be applied to (all) other mechs as well
| * @param armKPID double array with 3 values, kP, kI, kD | ||
| * @param bottomLimit lowest angle in degrees the arm can safely achieve with 0 being horizontal | ||
| * @param topLimit highest angle in degrees the arm can safely achieve with 0 being horizontal | ||
| * @throws IllegalArgumentException if MotorType is not one of the 3 expected {@link MotorConfig}s |
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5 as we added solo vortexes and neo 2.0
| armKP = 0; | ||
| armKI = 0; | ||
| armKD = 0; | ||
| DriverStation.reportWarning("ArmPID is off", true); |
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I would print why ArmPID is off, ie ArmPID is off because KP is less than 0
| armKG = 0; | ||
| armKV = 0; | ||
| armKA = 0; | ||
| DriverStation.reportWarning("ArmFeedForward is off", true); |
| * @throws IllegalArgumentException if the bottom limit is higher or equal to the top limit | ||
| */ | ||
| public static ArmConfig motorWithPID(int armMasterMotorId, MotorConfig armMasterMotorType, boolean armMasterInversed, double[] armKPID, double bottomLimit, double topLimit) { | ||
| return new ArmConfig(1, 1, 14, null, null, null, armMasterMotorId, armMasterMotorType, armMasterInversed, armKPID, defaultArmPIDTolerance, false, null, null, -1, 0, bottomLimit, topLimit); |
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| return new ArmConfig(1, 1, 14, null, null, null, armMasterMotorId, armMasterMotorType, armMasterInversed, armKPID, defaultArmPIDTolerance, false, null, null, -1, 0, bottomLimit, topLimit); | |
| return new ArmConfig(1, 1, 12, null, null, null, armMasterMotorId, armMasterMotorType, armMasterInversed, armKPID, defaultArmPIDTolerance, false, null, null, -1, 0, bottomLimit, topLimit); |
| } | ||
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| /** | ||
| * Checks PID to have 3 values, updates {@link #armPIDExists} and makes sure the values are legitimate |
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what is armPIDExists, I can't find it refrenced anywhere but in here
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| /** | ||
| * @deprecated Use {@link #resetFieldOrientation()} instead | ||
| */ | ||
| @Deprecated | ||
| public void resetHeading() { | ||
| gyro.reset(); | ||
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| } |
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| /** | |
| * @deprecated Use {@link #resetFieldOrientation()} instead | |
| */ | |
| @Deprecated | |
| public void resetHeading() { | |
| gyro.reset(); | |
| } |
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| /** | ||
| * @deprecated Use {@link #setMode(Mode)} instead | ||
| * Changes between IdleModes | ||
| */ | ||
| @Deprecated | ||
| public void toggleMode() { | ||
| for (SwerveModule module : modules) | ||
| module.toggleMode(); | ||
| } | ||
| /** | ||
| * @deprecated Use {@link #setMode(Mode)} instead | ||
| */ | ||
| @Deprecated | ||
| public void brake() { | ||
| for (SwerveModule module : modules) | ||
| module.brake(); | ||
| } | ||
| /** | ||
| * @deprecated Use {@link #setMode(Mode)} instead | ||
| */ | ||
| @Deprecated | ||
| public void coast() { | ||
| for (SwerveModule module : modules) | ||
| module.coast(); | ||
| } |
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| /** | |
| * @deprecated Use {@link #setMode(Mode)} instead | |
| * Changes between IdleModes | |
| */ | |
| @Deprecated | |
| public void toggleMode() { | |
| for (SwerveModule module : modules) | |
| module.toggleMode(); | |
| } | |
| /** | |
| * @deprecated Use {@link #setMode(Mode)} instead | |
| */ | |
| @Deprecated | |
| public void brake() { | |
| for (SwerveModule module : modules) | |
| module.brake(); | |
| } | |
| /** | |
| * @deprecated Use {@link #setMode(Mode)} instead | |
| */ | |
| @Deprecated | |
| public void coast() { | |
| for (SwerveModule module : modules) | |
| module.coast(); | |
| } |
| if (armFollowId != null) { | ||
| for (MotorConfig config: armFollowMotorType) { | ||
| if (config != MotorConfig.NEO && config != MotorConfig.NEO_VORTEX && config != MotorConfig.NEO_550) { | ||
| throw new IllegalArgumentException("What is this config??? If null pls change, if not null you're cooked"); |
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maybe it's a neo 2.0 or a solo vortex :P
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also I feel like this is not really needed, as I don't nesseceraly see how this is better than a null check and it adds burden, as you need to modify this whenever a motor is added to motorConfig
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Please merge this tim, it works