Update from Phoenix 5 to Phoenix 6

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

@@ -1,6 +1,6 @@
 package org.carlmontrobotics.lib199;
 
-import com.ctre.phoenix.ErrorCode;
+import com.ctre.phoenix6.StatusCode;
 
 import org.mockito.internal.stubbing.defaultanswers.ReturnsSmartNulls;
 import org.mockito.invocation.InvocationOnMock;
@@ -11,7 +11,7 @@ public class ErrorCodeAnswer extends ReturnsSmartNulls {
 
     @Override
     public Object answer(InvocationOnMock invocation) throws Throwable {
-        return invocation.getMethod().getReturnType().equals(ErrorCode.class) ? ErrorCode.OK : super.answer(invocation);
+        return invocation.getMethod().getReturnType().equals(StatusCode.class) ? StatusCode.OK : super.answer(invocation);
     }
 
 }

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

@@ -7,20 +7,18 @@
 
 package org.carlmontrobotics.lib199;
 
-import com.ctre.phoenix.motorcontrol.NeutralMode;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
-import com.ctre.phoenix.sensors.CANCoder;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.ExternalFollower;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel;
 import com.revrobotics.SparkMaxPIDController;
 
 import org.carlmontrobotics.lib199.sim.MockSparkMax;
-import org.carlmontrobotics.lib199.sim.MockTalonSRX;
-import org.carlmontrobotics.lib199.sim.MockVictorSPX;
-import org.carlmontrobotics.lib199.sim.MockedCANCoder;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.UsbCamera;
@@ -31,46 +29,28 @@
  * Add your docs here.
  */
 public class MotorControllerFactory {
-  public static WPI_VictorSPX createVictor(int port) {
-    WPI_VictorSPX victor;
-    if (RobotBase.isReal()) {
-        victor = new WPI_VictorSPX(port);
-    } else {
-        victor = MockVictorSPX.createMockVictorSPX(port);
-    }
 
-    // Put all configurations for the victor motor controllers in here.
-    MotorErrors.reportError(victor.configNominalOutputForward(0, 10));
-    MotorErrors.reportError(victor.configNominalOutputReverse(0, 10));
-    MotorErrors.reportError(victor.configPeakOutputForward(1, 10));
-    MotorErrors.reportError(victor.configPeakOutputReverse(-1, 10));
-    MotorErrors.reportError(victor.configNeutralDeadband(0.001, 10));
-    victor.setNeutralMode(NeutralMode.Brake);
-
-    return victor;
-  }
-
-  public static WPI_TalonSRX createTalon(int id) {
-    WPI_TalonSRX talon;
-    if (RobotBase.isReal()) {
-        talon = new WPI_TalonSRX(id);
-    } else {
-        talon = MockTalonSRX.createMockTalonSRX(id);
-    }
+  public static TalonFX createTalon(int id) {
+    TalonFX talon = new TalonFX(id);
 
     // Put all configurations for the talon motor controllers in here.
     // All values are from last year's code.
-    MotorErrors.reportError(talon.configNominalOutputForward(0, 10));
-    MotorErrors.reportError(talon.configNominalOutputReverse(0, 10));
-    MotorErrors.reportError(talon.configPeakOutputForward(1, 10));
-    MotorErrors.reportError(talon.configPeakOutputReverse(-1, 10));
-    MotorErrors.reportError(talon.configPeakCurrentLimit(0, 0));
-    MotorErrors.reportError(talon.configPeakCurrentDuration(0, 0));
+    MotorOutputConfigs motorOutputConfigs = new MotorOutputConfigs();
+    motorOutputConfigs.PeakForwardDutyCycle = 1;
+    motorOutputConfigs.PeakReverseDutyCycle = -1;
+    motorOutputConfigs.NeutralMode = NeutralModeValue.Brake;
+    motorOutputConfigs.DutyCycleNeutralDeadband = 0.001;
+    MotorErrors.reportError(talon.getConfigurator().apply(motorOutputConfigs));
+
+    CurrentLimitsConfigs currentLimits = new CurrentLimitsConfigs();
     // 40 Amps is the amp limit of a CIM. lThe PDP has 40 amp circuit breakers,
-    MotorErrors.reportError(talon.configContinuousCurrentLimit(30, 0));
-    talon.enableCurrentLimit(true);
-    MotorErrors.reportError(talon.configNeutralDeadband(0.001, 10));
-    talon.setNeutralMode(NeutralMode.Brake);
+    currentLimits.SupplyCurrentLimit = 30;
+    currentLimits.SupplyCurrentThreshold = 0;
+    currentLimits.StatorCurrentLimitEnable = true;
+    // Why is the peak current limit 0 amps?
+    // MotorErrors.reportError(talon.configPeakCurrentLimit(0, 0));
+    // MotorErrors.reportError(talon.configPeakCurrentDuration(0, 0));
+    MotorErrors.reportError(talon.getConfigurator().apply(currentLimits));
 
     return talon;
   }
@@ -148,9 +128,8 @@ public static CANSparkMax createSparkMax(int id, MotorConfig config) {
    * @deprecated Use {@link SensorFactory#createCANCoder(int)} instead.
    */
   @Deprecated
-  public static CANCoder createCANCoder(int port) {
-    CANCoder canCoder = new CANCoder(port);
-    if(RobotBase.isSimulation()) new MockedCANCoder(canCoder);
+  public static CANcoder createCANCoder(int port) {
+    CANcoder canCoder = new CANcoder(port);
     return canCoder;
   }
 

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

@@ -3,7 +3,7 @@
 import java.util.Arrays;
 import java.util.concurrent.ConcurrentHashMap;
 
-import com.ctre.phoenix.ErrorCode;
+import com.ctre.phoenix6.StatusCode;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.FaultID;
 import com.revrobotics.REVLibError;
@@ -25,16 +25,16 @@ public final class MotorErrors {
         Lib199Subsystem.registerAsyncPeriodic(MotorErrors::printSparkMaxErrorMessages);
     }
 
-    public static void reportError(ErrorCode error) {
-        reportError("CTRE", error, ErrorCode.OK);
+    public static void reportError(StatusCode error) {
+        reportError("CTRE", error, StatusCode.OK);
     }
 
     public static void reportError(REVLibError error) {
         reportError("REV Robotics", error, REVLibError.kOk);
     }
 
-    public static void reportErrors(ErrorCode... errors) {
-        for(ErrorCode error: errors) {
+    public static void reportErrors(StatusCode... errors) {
+        for(StatusCode error: errors) {
             reportError(error);
         }
     }

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

@@ -1,8 +1,6 @@
 package org.carlmontrobotics.lib199;
 
-import org.carlmontrobotics.lib199.sim.MockedCANCoder;
-
-import com.ctre.phoenix.sensors.CANCoder;
+import com.ctre.phoenix6.hardware.CANcoder;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.UsbCamera;
@@ -20,10 +18,8 @@ public class SensorFactory {
      * @param port The CAN ID of the CANCoder
      * @return The CANCoder object
      */
-    public static CANCoder createCANCoder(int port) {
-        CANCoder canCoder = new CANCoder(port);
-        if (RobotBase.isSimulation())
-            new MockedCANCoder(canCoder);
+    public static CANcoder createCANCoder(int port) {
+        CANcoder canCoder = new CANcoder(port);
         return canCoder;
     }