From 9b0c46286d2a0c769c10edfb3014b6e4787847a3 Mon Sep 17 00:00:00 2001 From: CoolSpy3 Date: Fri, 26 May 2023 16:22:29 -0700 Subject: [PATCH 1/2] remove sparkmax unplugged handler and deprecate related methods --- .../org/carlmontrobotics/lib199/DummySparkMaxAnswer.java | 1 + .../carlmontrobotics/lib199/MotorControllerFactory.java | 7 +------ src/main/java/org/carlmontrobotics/lib199/MotorErrors.java | 1 + 3 files changed, 3 insertions(+), 6 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java b/src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java index 356622ac..cd30bd3f 100644 --- a/src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java +++ b/src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java @@ -12,6 +12,7 @@ import org.mockito.invocation.InvocationOnMock; +@Deprecated public class DummySparkMaxAnswer extends REVLibErrorAnswer { private static final long serialVersionUID = 2284848703213263465L; diff --git a/src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java b/src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java index 63be3b75..2fce0ff5 100644 --- a/src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java +++ b/src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java @@ -121,13 +121,8 @@ public static CANSparkMax createSparkMax(int id, MotorConfig config) { CANSparkMax spark; if (RobotBase.isReal()) { spark = new CachedSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless); - if (spark.getFirmwareVersion() == 0) { - spark.close(); - System.err.println("SparkMax on port: " + id + " is not connected!"); - return MotorErrors.createDummySparkMax(); - } } else { - spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless); + spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless); } MotorErrors.reportSparkMaxTemp(spark, config.temperatureLimit); diff --git a/src/main/java/org/carlmontrobotics/lib199/MotorErrors.java b/src/main/java/org/carlmontrobotics/lib199/MotorErrors.java index 60c5e8fa..c2c051da 100644 --- a/src/main/java/org/carlmontrobotics/lib199/MotorErrors.java +++ b/src/main/java/org/carlmontrobotics/lib199/MotorErrors.java @@ -95,6 +95,7 @@ public static void printSparkMaxErrorMessages() { flags.keySet().forEach((spark) -> checkSparkMaxErrors(spark)); } + @Deprecated public static CANSparkMax createDummySparkMax() { return DummySparkMaxAnswer.DUMMY_SPARK_MAX; } From f9235ed0afcccac9a04aeeb73de2ded25d40586c Mon Sep 17 00:00:00 2001 From: CoolSpy3 Date: Fri, 26 May 2023 16:30:02 -0700 Subject: [PATCH 2/2] undeprecate methods --- .../java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java | 1 - src/main/java/org/carlmontrobotics/lib199/MotorErrors.java | 1 - 2 files changed, 2 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java b/src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java index cd30bd3f..356622ac 100644 --- a/src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java +++ b/src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java @@ -12,7 +12,6 @@ import org.mockito.invocation.InvocationOnMock; -@Deprecated public class DummySparkMaxAnswer extends REVLibErrorAnswer { private static final long serialVersionUID = 2284848703213263465L; diff --git a/src/main/java/org/carlmontrobotics/lib199/MotorErrors.java b/src/main/java/org/carlmontrobotics/lib199/MotorErrors.java index c2c051da..60c5e8fa 100644 --- a/src/main/java/org/carlmontrobotics/lib199/MotorErrors.java +++ b/src/main/java/org/carlmontrobotics/lib199/MotorErrors.java @@ -95,7 +95,6 @@ public static void printSparkMaxErrorMessages() { flags.keySet().forEach((spark) -> checkSparkMaxErrors(spark)); } - @Deprecated public static CANSparkMax createDummySparkMax() { return DummySparkMaxAnswer.DUMMY_SPARK_MAX; }