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Changed WsSparkMax to WsSpark and added support for SparkFlex
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@fruzyna
fruzyna committed Jan 5, 2024
1 parent 3ff4661 commit b491b59
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Showing 10 changed files with 108 additions and 111 deletions.
19 changes: 9 additions & 10 deletions src/main/java/org/wildstang/hardware/roborio/RoboRIOOutputFactory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
import org.wildstang.hardware.roborio.outputs.WsRelay;
import org.wildstang.hardware.roborio.outputs.WsServo;
import org.wildstang.hardware.roborio.outputs.WsSolenoid;
import org.wildstang.hardware.roborio.outputs.WsSparkMax;
import org.wildstang.hardware.roborio.outputs.WsSpark;
import org.wildstang.hardware.roborio.outputs.WsRemoteAnalogOutput;
import org.wildstang.hardware.roborio.outputs.WsRemoteDigitalOutput;
import org.wildstang.hardware.roborio.outputs.config.WsDigitalOutputConfig;
Expand All @@ -23,8 +23,8 @@
import org.wildstang.hardware.roborio.outputs.config.WsRelayConfig;
import org.wildstang.hardware.roborio.outputs.config.WsServoConfig;
import org.wildstang.hardware.roborio.outputs.config.WsSolenoidConfig;
import org.wildstang.hardware.roborio.outputs.config.WsSparkMaxConfig;
import org.wildstang.hardware.roborio.outputs.config.WsSparkMaxFollowerConfig;
import org.wildstang.hardware.roborio.outputs.config.WsSparkConfig;
import org.wildstang.hardware.roborio.outputs.config.WsSparkFollowerConfig;
import org.wildstang.hardware.roborio.outputs.config.WsRemoteAnalogOutputConfig;
import org.wildstang.hardware.roborio.outputs.config.WsRemoteDigitalOutputConfig;

Expand Down Expand Up @@ -79,18 +79,17 @@ else if (config instanceof WsPhoenixFollowerConfig) {
out = Core.getOutputManager().getOutput(c.getFollowing());
((WsPhoenix) out).addFollower(c.getChannel(), c.getType(), c.isOpposing());
}
else if (config instanceof WsSparkMaxConfig) {
WsSparkMaxConfig c = (WsSparkMaxConfig) config;
out = new WsSparkMax(p_output.getName(), c.getChannel(), c.isBrushless(),
c.getDefault(), c.isInverted());
else if (config instanceof WsSparkConfig) {
WsSparkConfig c = (WsSparkConfig) config;
out = new WsSpark(p_output.getName(), c.getChannel(), c.getType(), c.getDefault(), c.isInverted());
}
// Note a WsSparkMaxFollower must be defined after its corresponding WsSparkMax
else if (config instanceof WsSparkMaxFollowerConfig) {
WsSparkMaxFollowerConfig c = (WsSparkMaxFollowerConfig) config;
else if (config instanceof WsSparkFollowerConfig) {
WsSparkFollowerConfig c = (WsSparkFollowerConfig) config;
// Returns the follwed WsSparkMax because a return is required
// and duplicate outputs are thrown out when encountered.
out = Core.getOutputManager().getOutput(c.getFollowing());
((WsSparkMax) out).addFollower(c.getChannel(), c.isBrushless(), c.isOpposing());
((WsSpark) out).addFollower(c.getChannel(), c.getType(), c.isOpposing());
}
else if (config instanceof WsSolenoidConfig) {
WsSolenoidConfig c = (WsSolenoidConfig) config;
Expand Down
4 changes: 2 additions & 2 deletions src/main/java/org/wildstang/hardware/roborio/outputs/WsPhoenix.java
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ public WsPhoenix(String name, int channel, double p_default, WsMotorControllers
motor = new TalonFX(channel);
break;
default:
Log.error("Invalid motor control for WsPhoenix!");
Log.error("Invalid motor controller for WsPhoenix!");
return;
}
motor.setInverted(invert);
Expand All @@ -73,7 +73,7 @@ public void addFollower(int canConstant, WsMotorControllers controller, boolean
follower = new TalonFX(canConstant);
break;
default:
Log.error("Invalid follower motor control for WsPhoenix!");
Log.error("Invalid follower motor controller for WsPhoenix!");
return;
}
follower.follow(motor);
Expand Down
66 changes: 36 additions & 30 deletions .../hardware/roborio/outputs/WsSparkMax.java → ...ang/hardware/roborio/outputs/WsSpark.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,9 @@

import com.revrobotics.SparkPIDController;
import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.CANSparkBase;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkFlex;
import com.revrobotics.CANSparkBase.IdleMode;
import com.revrobotics.CANSparkLowLevel.MotorType;
import com.revrobotics.CANSparkBase.ControlType;
Expand All @@ -11,13 +13,13 @@
import org.wildstang.hardware.roborio.outputs.config.WsMotorControllers;

/**
* Controls a Spark Max motor controller.
* Controls a Spark Max/Flex motor controller.
* @author Liam
*/
public class WsSparkMax extends WsMotorController {
public class WsSpark extends WsMotorController {

CANSparkMax motor;
CANSparkMax follower;
CANSparkBase motor;
CANSparkBase follower;
SparkPIDController controller;
boolean isUsingController;
boolean isChanged;
Expand All @@ -28,77 +30,81 @@ public class WsSparkMax extends WsMotorController {
* Constructs the motor controller from config.
* @param name Descriptive name of the controller.
* @param channel Motor controller CAN constant.
* @param brushless True if the motor is brushless, false if brushed.
* @param controller Enumeration representing type of controller.
* @param p_default Default output value.
*/
public WsSparkMax(String name, int channel, boolean brushless, double p_default) {
this(name, channel, brushless, p_default, false);
public WsSpark(String name, int channel, WsMotorControllers controller, double p_default) {
this(name, channel, controller, p_default, false);
}

/**
* Constructs the motor controller from config.
* @param name Descriptive name of the controller.
* @param channel Motor controller CAN constant.
* @param brushless True if the motor is brushless, false if brushed.
* @param controller Enumeration representing type of controller.
* @param p_default Default output value.
* @param invert Invert the motor's direction.
*/
public WsSparkMax(String name, int channel, boolean brushless, double p_default, boolean invert) {
public WsSpark(String name, int channel, WsMotorControllers controller, double p_default, boolean invert) {
super(name, p_default);

motor = new CANSparkMax(channel, brushless ? MotorType.kBrushless : MotorType.kBrushed);
boolean brushless = controller == WsMotorControllers.SPARK_MAX_BRUSHLESS || controller == WsMotorControllers.SPARK_FLEX_BRUSHLESS;
switch (controller) {
case SPARK_MAX_BRUSHED:
case SPARK_MAX_BRUSHLESS:
motor = new CANSparkMax(channel, brushless ? MotorType.kBrushless : MotorType.kBrushed);
break;
case SPARK_FLEX_BRUSHED:
case SPARK_FLEX_BRUSHLESS:
motor = new CANSparkFlex(channel, brushless ? MotorType.kBrushless : MotorType.kBrushed);
break;
default:
Log.error("Invalid motor controller for WsSpark!");
return;
}
motor.setInverted(invert);
isUsingController = false;
isChanged = true;
controlType = ControlType.kDutyCycle;
}

/**
* Add a follower motor to the current motor.
* @param canConstant CAN constant of the new follower motor.
* @param brushless True if the motor is brushless, false if brushed.
* @param oppose True if the follow should oppose the direction of this motor.
*/
public void addFollower(int canConstant, boolean brushless, boolean oppose) {
addFollower(canConstant, brushless ? WsMotorControllers.SPARK_MAX_BRUSHLESS : WsMotorControllers.SPARK_MAX_BRUSHED, oppose);
}

/**
* Add a follower motor to the current motor.
* @param canConstant CAN constant of the new follower motor.
* @param controller Enumeration representing type of controller.
* @param oppose True if the follow should oppose the direction of this motor.
*/
public void addFollower(int canConstant, WsMotorControllers controller, boolean oppose) {
boolean brushless;
boolean brushless = controller == WsMotorControllers.SPARK_MAX_BRUSHLESS || controller == WsMotorControllers.SPARK_FLEX_BRUSHLESS;
switch (controller) {
case SPARK_MAX_BRUSHED:
brushless = false;
break;
case SPARK_MAX_BRUSHLESS:
brushless = true;
motor = new CANSparkMax(canConstant, brushless ? MotorType.kBrushless : MotorType.kBrushed);
break;
case SPARK_FLEX_BRUSHED:
case SPARK_FLEX_BRUSHLESS:
motor = new CANSparkFlex(canConstant, brushless ? MotorType.kBrushless : MotorType.kBrushed);
break;
default:
Log.error("Invalid follower motor control for WsSparkMax!");
Log.error("Invalid follower motor controller for WsSpark!");
return;
}
follower = new CANSparkMax(canConstant, brushless ? MotorType.kBrushless : MotorType.kBrushed);
follower.follow(motor, oppose);
}

/**
* Returns the raw motor controller Object.
* @return CANSparkMax Object.
* @return CANSparkBase Object.
*/
public CANSparkMax getController() {
public CANSparkBase getController() {
return motor;
}

/**
* Returns the raw follower motor controller Object.
* @return Follower motor controller object, null if no follower.
*/
public CANSparkMax getFollower() {
public CANSparkBase getFollower() {
return follower;
}

Expand Down Expand Up @@ -346,7 +352,7 @@ public void setVelocity(double target){
public void notifyConfigChange() { }

/**
* Does nothing, SparkMax has no current limit disable function.
* Does nothing, Spark has no current limit disable function.
*/
@Override
public void disableCurrentLimit() {}
Expand Down
2 changes: 2 additions & 0 deletions src/main/java/org/wildstang/hardware/roborio/outputs/config/WsMotorControllers.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,5 +6,7 @@ public enum WsMotorControllers {
TALON_FX,
SPARK_MAX_BRUSHLESS,
SPARK_MAX_BRUSHED,
SPARK_FLEX_BRUSHLESS,
SPARK_FLEX_BRUSHED,
UNKNOWN
}
44 changes: 22 additions & 22 deletions ...orio/outputs/config/WsSparkMaxConfig.java → ...roborio/outputs/config/WsSparkConfig.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,44 +3,44 @@
import org.wildstang.framework.hardware.OutputConfig;

/**
* Contains configurations for Spark Max motor controllers.
* Contains configurations for Spark Max/Flex motor controllers.
*/
public class WsSparkMaxConfig implements OutputConfig {
public class WsSparkConfig implements OutputConfig {

private int m_channel = 0;
private double m_default;
private boolean brushless;
private WsMotorControllers controller;
private boolean invert;

/**
* Construct the Phoenix config.
* @param channel Controller CAN constant.
* @param brushless True if the motor is brushless, false if brushed.
* @param controller Enumeration representing type of controller.
*/
public WsSparkMaxConfig(int channel, boolean brushless) {
this(channel, brushless, false, 0);
public WsSparkConfig(int channel, WsMotorControllers controller) {
this(channel, controller, false, 0);
}

/**
* Construct the Phoenix config.
* @param channel Controller CAN constant.
* @param brushless True if the motor is brushless, false if brushed.
* @param controller Enumeration representing type of controller.
* @param invert True if motor output should be inverted.
*/
public WsSparkMaxConfig(int channel, boolean brushless, boolean invert) {
this(channel, brushless, invert, 0);
public WsSparkConfig(int channel, WsMotorControllers controller, boolean invert) {
this(channel, controller, invert, 0);
}

/**
* Construct the Phoenix config.
* @param channel Controller CAN constant.
* @param brushless True if the motor is brushless, false if brushed.
* @param controller Enumeration representing type of controller.
* @param invert True if motor output should be inverted.
* @param p_default Default output value.
*/
public WsSparkMaxConfig(int channel, boolean brushless, boolean invert, double p_default) {
public WsSparkConfig(int channel, WsMotorControllers controller, boolean invert, double p_default) {
m_channel = channel;
this.brushless = brushless;
this.controller = controller;
this.invert = invert;
m_default = p_default;
}
Expand All @@ -54,19 +54,19 @@ public int getChannel() {
}

/**
* Returns the default output value.
* @return The default value.
* Returns the motor controller type.
* @return The hardware motor controller type.
*/
public double getDefault() {
return m_default;
public WsMotorControllers getType() {
return controller;
}

/**
* Returns true if the motor is brushless.
* @return True if the motor is brushless, false if brushed.
* Returns the default output value.
* @return The default value.
*/
public boolean isBrushless() {
return brushless;
public double getDefault() {
return m_default;
}

/**
Expand All @@ -86,8 +86,8 @@ public String toString() {
StringBuffer buf = new StringBuffer();
buf.append("{\"channel\": ");
buf.append(m_channel);
buf.append(", \"brushless\": ");
buf.append(brushless);
buf.append(", \"type\": ");
buf.append(controller.name());
buf.append("}");
return buf.toString();
}
Expand Down
30 changes: 10 additions & 20 deletions ...puts/config/WsSparkMaxFollowerConfig.java → ...outputs/config/WsSparkFollowerConfig.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,39 +3,37 @@
import org.wildstang.framework.hardware.OutputConfig;

/**
* Contains configurations for Spark Max motor controller followers.
* Contains configurations for Spark Max/Flex motor controller followers.
*/
public class WsSparkMaxFollowerConfig implements OutputConfig {
public class WsSparkFollowerConfig implements OutputConfig {

private String following;
private int m_channel = 0;
private boolean brushless;
private boolean oppose;
private WsMotorControllers controller;

/**
* Construct the Phoenix config.
* @param following Name of motor controller being followed.
* @param channel Hardware port number.
* @param brushless True if the motor is brushless, false if brushed.
* @param controller Enumeration representing type of controller.
*/
public WsSparkMaxFollowerConfig(String following, int channel, boolean brushless) {
this(following, channel, brushless, false);
public WsSparkFollowerConfig(String following, int channel, WsMotorControllers controller) {
this(following, channel, controller, false);
}

/**
* Construct the Phoenix config.
* @param following Name of motor controller being followed.
* @param channel Hardware port number.
* @param brushless True if the motor is brushless, false if brushed.
* @param controller Enumeration representing type of controller.
* @param oppose True if the follow should oppose the direction of this motor.
*/
public WsSparkMaxFollowerConfig(String following, int channel, boolean brushless, boolean oppose) {
public WsSparkFollowerConfig(String following, int channel, WsMotorControllers controller, boolean oppose) {
this.following = following;
m_channel = channel;
this.brushless = brushless;
this.controller = controller;
this.oppose = oppose;
this.controller = brushless ? WsMotorControllers.SPARK_MAX_BRUSHLESS : WsMotorControllers.SPARK_MAX_BRUSHED;
}

/**
Expand All @@ -54,14 +52,6 @@ public int getChannel() {
return m_channel;
}

/**
* Returns true if the motor is brushless.
* @return True if the motor is brushless, false if brushed.
*/
public boolean isBrushless() {
return brushless;
}

/**
* Returns true if the motor controller is a Talon.
* @return True if Talon, false if Victor.
Expand All @@ -87,8 +77,8 @@ public String toString() {
StringBuffer buf = new StringBuffer();
buf.append("{\"channel\": ");
buf.append(m_channel);
buf.append(", \"brushless\": ");
buf.append(brushless);
buf.append(", \"type\": ");
buf.append(controller.name());
buf.append(", \"oppose\": ");
buf.append(oppose);
buf.append("}");
Expand Down
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