Smart Motor Controller Wrapper for Brushless Motors

[thenetworkgrinch]

Smart Motor controllers have made huge advancements in FRC that merit a generalized class so WPI can write documentation on how to utilize these features.

The most prevalent example would be a Swerve Motor Controller, and as such would be the ideal scenario to develop for.

The general interface would need

1. getSupplyVoltage() and/or getStatorVoltage() (Can be combined with enum parameter)
2. getSupplyCurrent() and/or getStatorCurrent() (Can be combined with enum parameter)
3. setCurrentLimit(CurrentLimitClass limits)
4. setRampRate(RampRateClass rate)
5. setMotorRotationToMechanismRotation(Rotation.of(0.25), Rotation.of(1))
6. setFeedback(FeedbackClass pid)
7. setFeedforward(SimpleMotorFeedforward ff)
8. setTarget(Rotation) and setTarget(LinearVelocity)
9. getPosition() and getVelocity()
10. saveSettings()
11. setBrakeMode(bool)

A general reference would be YAGSL SwerveMotor however this is unfit for a complete push into WPILib because it is even more generic.
https://github.com/BroncBotz3481/YAGSL-Example/blob/dev/src/main/java/swervelib/motors/SwerveMotor.java

[TheTripleV]

I agree wrappers are useful. Got started on a spec here https://docs.google.com/document/d/1N0p_WPJfvQAa_iPqGGgkQPSaS9B87mLqIYqtC-e1O94/edit but didn't get around to making more progress

[thenetworkgrinch]

Can you make that into a gist?

[thenetworkgrinch]

Update to this. As apart of my mechanisms library I made a common SmartMotorController class which works with a common SmartMotorControllerConfig, this works ontop of existing vendor classes and has accessible vendor config objects and vendor motor classes. Since not all vendors support everything I have added exceptions in the applyConfig function of every wrapper which throw RuntimeExceptions alerting the user to an unsupported option for said vendor, allowing for a comprehensive list of configurations. The only problem of this model is that I haven't added configuration application verification. This will be included soon by creating an enum and set which contains every config option that must be applied to a motor controller. At the start of the applyConfig function it will reset the set with all config options that can be applied to a motor controller (even if those options are not set) when you call getX it will decrement that appropriate enum from the set and at the end of the applyConfig it will check if the set is empty. If the set is not empty it will throw a runtime exception that X was not fetched during SmartMotorController.applyConfig! Please fetch X!

As for comprehensiveness of the existing SmartMotorController i believe that I have achieved that.
https://github.com/Yet-Another-Software-Suite/YAMS/blob/master/yams/java/yams/motorcontrollers/SmartMotorController.java
https://github.com/Yet-Another-Software-Suite/YAMS/blob/master/yams/java/yams/motorcontrollers/SmartMotorControllerConfig.java