Motor comments

General cleanup

src/main/java/common/core/NAR_Robot.java

@@ -13,6 +13,11 @@
 import edu.wpi.first.wpilibj.IterativeRobotBase;
 import edu.wpi.first.wpilibj.Timer;
 
+/**
+ * Team 3128's Robot class that includes advantageScope and addPeriodic
+ * @since 2023 CHARGED UP
+ * @author Mason Lam
+ */
 public class NAR_Robot extends IterativeRobotBase {
     @SuppressWarnings("MemberName")
   static class Callback implements Comparable<Callback> {

src/main/java/common/core/controllers/Controller.java

@@ -42,6 +42,7 @@ public Controller(double kP, double kI, double kD, double period) {
         kG_Function = () -> 1;
         consumers = new LinkedList<DoubleConsumer>();
     }
+
     /**
      * Create a new object to control PID logic for a subsystem.
      * <p>Sets kP, kI, kD values.
@@ -66,6 +67,7 @@ public Controller(double kP, double kI, double kD) {
     public void setMeasurementSource(DoubleSupplier measurement) {
         this.measurement = measurement;
     }
+
     /**
      * Adds a motor set method to consumers to be later used during PID logic.
      * @see LinkedList consumers: includes void functions that accept double values.
@@ -74,6 +76,7 @@ public void setMeasurementSource(DoubleSupplier measurement) {
     public void addMotor(NAR_Motor motor) {
         consumers.add(motor::set);
     }
+
     /**
      * Adds a useOutput method to consumers to be later used during PID logic.
      * @see LinkedList consumers: includes void functions that accept double values.
@@ -82,6 +85,7 @@ public void addMotor(NAR_Motor motor) {
     public void addOutput(DoubleConsumer output) {
         consumers.add(output);
     }
+
     /**
      * Calculates the output based on calculations from the measurement, then gives each DoubleConsumer in consumers the output as an argument.
      * @return calculated output based on calculations from the measurement
@@ -95,69 +99,79 @@ public double useOutput() {
         }
         return output;
     }
+
     /**
      * Sets the kG_Function to a new DoubleSupplier.
      * @param kG_Function DoubleSupplier with specified logic.
      */
     public void setkG_Function(DoubleSupplier kG_Function) {
         this.kG_Function = kG_Function;
     }
+
     /**
      * Sets the kS value.
      * @param kS The constant power required to overcome static friction as a double.
      */
     public void setkS(double kS) {
         setkS(()-> kS);
     }
+
     /**
      * Sets the kS value.
      * @param kS The constant power required to overcome static friction as a DoubleSupplier.
      */
     public void setkS(DoubleSupplier kS) {
         this.kS = kS;
     }
+
     /**
      * Sets the kV value.
      * @param kV The constant power required to maintain a set velocity as a double.
      */
     public void setkV(double kV) {
         setkV(()-> kV);
     }
+
     /**
      * Sets the kV value.
      * @param kV The constant power required to maintain a set velocity as a DoubleSupplier.
      */
     public void setkV(DoubleSupplier kV) {
         this.kV = kV;
     }
+
     /**
      * Sets the kG value.
      * @param kG The constant power required to overcome gravity as a double.
      */
     public void setkG(double kG) {
         this.kG = ()-> kG;
     }
+
     /**
      * Sets the kG value.
      * @param kG The constant power required to overcome gravity as a DoubleSupplier.
      */
     public void setkG(DoubleSupplier kG) {
         this.kG = kG;
     }
+
     /**
      * Returns kS.
      * @return returns kS as a double.
      */
     public double getkS() {
         return kS.getAsDouble();
     }
+
     /**
      * Returns kV.
      * @return returns kV as a double.
      */
     public double getkV() {
         return kV.getAsDouble();
     }
+
     /**
      * Returns kG.
      * @return returns kG as a double.

src/main/java/common/core/controllers/PController.java

@@ -8,55 +8,56 @@
  * @author Mason Lam, William Yuan
  */
 public class PController extends Controller {
+    /**
+     * Create a new object to control position PID logic for a subsystem.
+     * <p>Sets kP, kI, kD, period values.
+     * <p>Sets kS, kG values.
+     * <p>Defaults kG_Function to 1.
+     * 
+     * @param kS The constant power required to overcome static friction.
+     * @param kG The constant power required to overcome gravity.
+     * @param kP The proportional coefficient of the on board PIDController.
+     * @param kI The integral coefficient of the on board PIDController.
+     * @param kD The derivative coefficient of the on board PIDController.
+     * @param period The PID periodic update rate in seconds.
+     */
+    public PController(double kS, double kG, double kP, double kI, double kD, double period) {
+        super(kP, kI, kD, period);
+        setkS(()-> kS);
+        setkG(()-> kG);
+        setkG_Function(() -> 1);
+    }
 
-        /**
-         * Create a new object to control position PID logic for a subsystem.
-         * <p>Sets kP, kI, kD, period values.
-         * <p>Sets kS, kG values.
-         * <p>Defaults kG_Function to 1.
-         * 
-         * @param kS The constant power required to overcome static friction.
-         * @param kG The constant power required to overcome gravity.
-         * @param kP The proportional coefficient of the on board PIDController.
-         * @param kI The integral coefficient of the on board PIDController.
-         * @param kD The derivative coefficient of the on board PIDController.
-         * @param period The PID periodic update rate in seconds.
-         */
-        public PController(double kS, double kG, double kP, double kI, double kD, double period) {
-            super(kP, kI, kD, period);
-            setkS(()-> kS);
-            setkG(()-> kG);
-            setkG_Function(() -> 1);
-        }
-        /**
-         * Create a new object to control position PID logic for a subsystem.
-         * <p>Sets kP, kI, kD values.
-         * <p>Sets kS, kG values.
-         * <p>Defaults kG_Function to 1.
-         * <p>Defaults period to 0.02.
-         * 
-         * @param kS The constant power required to overcome static friction.
-         * @param kG The constant power required to overcome gravity.
-         * @param kP The proportional coefficient of the on board PIDController.
-         * @param kI The integral coefficient of the on board PIDController.
-         * @param kD The derivative coefficient of the on board PIDController.
-         */
-        public PController(double kS, double kG, double kP, double kI, double kD) {
-            this(kS, kG, kP, kI, kD, 0.02);
-        }
-        /**
-         * Overrides the calculate method in {@link PIDController} to use PID and FF logic.
-         * <p>Uses kG instead of kV.
-         * 
-         * @param measurement The desired setpoint for the subsystem.
-         * 
-         * @return the output from PID and FF.
-         */
-        @Override
-        public double calculate(double measurement) {
-            final double pid = super.calculate(measurement);
-            final double ff = !atSetpoint() ? Math.copySign(getkS(), pid) : 0 + getkG() * kG_Function.getAsDouble();
-            return pid + ff;
-        }
-
+    /**
+     * Create a new object to control position PID logic for a subsystem.
+     * <p>Sets kP, kI, kD values.
+     * <p>Sets kS, kG values.
+     * <p>Defaults kG_Function to 1.
+     * <p>Defaults period to 0.02.
+     * 
+     * @param kS The constant power required to overcome static friction.
+     * @param kG The constant power required to overcome gravity.
+     * @param kP The proportional coefficient of the on board PIDController.
+     * @param kI The integral coefficient of the on board PIDController.
+     * @param kD The derivative coefficient of the on board PIDController.
+     */
+    public PController(double kS, double kG, double kP, double kI, double kD) {
+        this(kS, kG, kP, kI, kD, 0.02);
     }
+
+    /**
+     * Overrides the calculate method in {@link PIDController} to use PID and FF logic.
+     * <p>Uses kG instead of kV.
+     * 
+     * @param measurement The desired setpoint for the subsystem.
+     * 
+     * @return the output from PID and FF.
+     */
+    @Override
+    public double calculate(double measurement) {
+        final double pid = super.calculate(measurement);
+        final double ff = !atSetpoint() ? Math.copySign(getkS(), pid) : 0 + getkG() * kG_Function.getAsDouble();
+        return pid + ff;
+    }
+
+}

src/main/java/common/core/controllers/VController.java

@@ -9,51 +9,53 @@
  * @author Mason Lam, William Yuan
  */
 public class VController extends Controller {
-         /**
-         * Create a new object to control velocity PID logic for a subsystem.
-         * <p>Sets kP, kI, kD, period values.
-         * <p>Sets kS, kV values.
-         * 
-         * @param kS The constant power required to overcome static friction.
-         * @param kV The constant power required to maintain a set velocity.
-         * @param kP The proportional coefficient of the on board PIDController.
-         * @param kI The integral coefficient of the on board PIDController.
-         * @param kD The derivative coefficient of the on board PIDController.
-         * @param period The PID periodic update rate in seconds.
-         */
-        public VController(double kS, double kV, double kP, double kI, double kD, double period) {
-            super(kP, kI, kD, period);
-            setkS(()-> kS);
-            setkV(()-> kV);
-        }
-        /**
-         * Create a new object to control velocity PID logic for a subsystem.
-         * <p>Sets kP, kI, kD values.
-         * <p>Sets kS, kV values.
-         * <p>Defaults period to 0.02.
-         * 
-         * @param kS The constant power required to overcome static friction.
-         * @param kV The constant power required to maintain a set velocity.
-         * @param kP The proportional coefficient of the on board PIDController.
-         * @param kI The integral coefficient of the on board PIDController.
-         * @param kD The derivative coefficient of the on board PIDController.
-         */
-        public VController(double kS, double kV, double kP, double kI, double kD) {
-            this(kS, kV, kP, kI, kD, 0.02);
-        }
-        /**
-         * Overrides the calculate method in {@link PIDController} to use PID and FF logic.
-         * <p>Uses kV instead of kG.
-         * 
-         * @param measurement The desired setpoint for the subsystem.
-         * 
-         * @return the output from PID and FF.
-         */
-        @Override
-        public double calculate(double measurement) {
-            final double pid = super.calculate(measurement);
-            final double ff = !atSetpoint() ? Math.copySign(getkS(), pid) : 0 + getkV() * getSetpoint();
-            return pid + ff;
-        }
-
+    /**
+     * Create a new object to control velocity PID logic for a subsystem.
+     * <p>Sets kP, kI, kD, period values.
+     * <p>Sets kS, kV values.
+     * 
+     * @param kS The constant power required to overcome static friction.
+     * @param kV The constant power required to maintain a set velocity.
+     * @param kP The proportional coefficient of the on board PIDController.
+     * @param kI The integral coefficient of the on board PIDController.
+     * @param kD The derivative coefficient of the on board PIDController.
+     * @param period The PID periodic update rate in seconds.
+     */
+    public VController(double kS, double kV, double kP, double kI, double kD, double period) {
+        super(kP, kI, kD, period);
+        setkS(()-> kS);
+        setkV(()-> kV);
+    }
+
+    /**
+     * Create a new object to control velocity PID logic for a subsystem.
+     * <p>Sets kP, kI, kD values.
+     * <p>Sets kS, kV values.
+     * <p>Defaults period to 0.02.
+     * 
+     * @param kS The constant power required to overcome static friction.
+     * @param kV The constant power required to maintain a set velocity.
+     * @param kP The proportional coefficient of the on board PIDController.
+     * @param kI The integral coefficient of the on board PIDController.
+     * @param kD The derivative coefficient of the on board PIDController.
+     */
+    public VController(double kS, double kV, double kP, double kI, double kD) {
+        this(kS, kV, kP, kI, kD, 0.02);
     }
+
+    /**
+     * Overrides the calculate method in {@link PIDController} to use PID and FF logic.
+     * <p>Uses kV instead of kG.
+     * 
+     * @param measurement The desired setpoint for the subsystem.
+     * 
+     * @return the output from PID and FF.
+     */
+    @Override
+    public double calculate(double measurement) {
+        final double pid = super.calculate(measurement);
+        final double ff = !atSetpoint() ? Math.copySign(getkS(), pid) : 0 + getkV() * getSetpoint();
+        return pid + ff;
+    }
+
+}

src/main/java/common/hardware/camera/Camera.java

@@ -5,7 +5,7 @@
 /**
  * Represents and holds the specs of a camera.
  * 
- * @since 2023 Charged Up
+ * @since 2022 RAPID REACT
  * @author Mason Lam, William Yuan
  */
 public class Camera {

src/main/java/common/hardware/input/NAR_ButtonBoard.java

@@ -5,7 +5,7 @@
 
 /**
  * Wrapper for the WPILib Joystick class. Works with device that can be recognized as joystick as driverstation.
- * @since 2023 Charged Up
+ * @since 2023 Charged UP
  * @author Peter Ma, Arav Chadha
  */
 public class NAR_ButtonBoard {

src/main/java/common/hardware/motorcontroller/NAR_CANSparkMax.java

@@ -24,6 +24,9 @@
  * @author Mason Lam
  */
 public class NAR_CANSparkMax extends NAR_Motor {
+	/**
+	 * Team 3128's status frames
+	 */
 	public enum SparkMaxConfig {
 		DEFAULT(MAX_PRIORITY, HIGH_PRIORITY, HIGH_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY),
 		FOLLOWER(MEDIUM_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY),
@@ -44,6 +47,9 @@ private SparkMaxConfig(int status0, int status1, int status2, int status3, int s
 		}
 	}
 
+	/**
+	 * Type of encoder used
+	 */
     public enum EncoderType {
 		Relative,
 		Absolute
@@ -250,8 +256,15 @@ public void enableContinuousInput(double minInput, double maxInput) {
 	 */
 	public void enableContinuousInput(double minInput, double maxInput, double factor) {
 		controller.setPositionPIDWrappingEnabled(true);
-		controller.setPositionPIDWrappingMinInput(minInput * factor);
-		controller.setPositionPIDWrappingMaxInput(maxInput * factor);
+		controller.setPositionPIDWrappingMinInput(minInput / factor);
+		controller.setPositionPIDWrappingMaxInput(maxInput / factor);
+	}
+
+	/**
+	 * Burns all settings to flash; stores settings between power cycles
+	 */
+	public void burnFlash() {
+		motor.burnFlash();
 	}
 
 	@Override
@@ -264,11 +277,6 @@ protected void setPercentOutput(double speed) {
         controller.setReference(speed, ControlType.kDutyCycle);
     }
 
-    @Override
-    protected void setVoltage(double volts) {
-        controller.setReference(volts, ControlType.kVoltage);
-    }
-
     @Override
     protected void setVelocity(double rpm, double feedForward) {
         controller.setReference(rpm, ControlType.kVelocity, 0, feedForward);