Possible Unnecessary Code (Check REVLib Changelog) (CachedSparkMax)

[CoolSpy3]

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

Lines 1 to 28 in 432cd16

	package org.carlmontrobotics.lib199;
	import com.revrobotics.CANSparkMax;
	import com.revrobotics.RelativeEncoder;
	import com.revrobotics.SparkMaxPIDController;
	public class CachedSparkMax extends CANSparkMax {
	private RelativeEncoder encoder;
	private SparkMaxPIDController pidController;
	public CachedSparkMax(int deviceId, MotorType type) {
	super(deviceId, type);
	this.encoder = null;
	this.pidController = null;
	}
	@Override
	public RelativeEncoder getEncoder() {
	return encoder == null ? (encoder = super.getEncoder()) : encoder;
	}
	@Override
	public SparkMaxPIDController getPIDController() {
	return pidController == null ? (pidController = super.getPIDController()) : pidController;
	}
	}

I've emailed Rev about the REVLib issue for which this is a workaround. This issue is for discussion of any relevant information, and as a reminder to watch the changelog as a supported solution may be released in the future.

[CoolSpy3]

It looks like all the relevant methods in CANSparkMax have been rewritten to cache their return values. Rev's implementation also has better thread safety than the one here. I'll start a PR to deprecate this class. It should be removed in a future major version.

[ProfessorAtomicManiac]

where do you find these changelogs? I looked up "Rev robotics changelog" and other keywords but couldn't find it anywhere.

[CoolSpy3]

where do you find these changelogs? I looked up "Rev robotics changelog" and other keywords but couldn't find it anywhere.

They're on the REVLib Information Page