Updated MockedEncoder with rev changes

Author: Niosocket11

src/main/java/org/carlmontrobotics/lib199/sim/MockedEncoder.java

@@ -128,38 +128,42 @@ public double getVelocity() {
                 * velocityConversionFactor;
     }
 
-    // @Override
-    // public REVLibError setPositionConversionFactor(double factor) {
-    //     positionConversionFactor = factor;
-    //     return REVLibError.kOk;
-    // }
+    //Let Mock to map these methods although they don't exist in the original class
+    public interface RemovedMethods {
+        REVLibError setPositionConversionFactor(double factor);
+        double getPositionConversionFactor();
+        REVLibError setVelocityConversionFactor(double factor);
+        double getVelocityConversionFactor();
+        REVLibError setInverted(boolean inverted);
+        boolean getInverted();
+    }
 
-    // @Override
-    // public double getPositionConversionFactor() {
-    //     return positionConversionFactor;
-    // }
+    public REVLibError setPositionConversionFactor(double factor) {
+        positionConversionFactor = factor;
+        return REVLibError.kOk;
+    }
 
-    // @Override
-    // public REVLibError setVelocityConversionFactor(double factor) {
-    //     velocityConversionFactor = factor;
-    //     return REVLibError.kOk;
-    // }
+    public double getPositionConversionFactor() {
+        return positionConversionFactor;
+    }
 
-    // @Override
-    // public double getVelocityConversionFactor() {
-    //     return velocityConversionFactor;
-    // }
+    public REVLibError setVelocityConversionFactor(double factor) {
+        velocityConversionFactor = factor;
+        return REVLibError.kOk;
+    }
 
-    // @Override
-    // public REVLibError setInverted(boolean inverted) {
-    //     this.inverted = inverted;
-    //     return REVLibError.kOk;
-    // }
+    public double getVelocityConversionFactor() {
+        return velocityConversionFactor;
+    }
 
-    // @Override
-    // public boolean getInverted() {
-    //     return inverted;
-    // }
+    public REVLibError setInverted(boolean inverted) {
+        this.inverted = inverted;
+        return REVLibError.kOk;
+    }
+
+    public boolean getInverted() {
+        return inverted;
+    }
 
     // @Override
     // public REVLibError setAverageDepth(int depth) {

src/test/java/org/carlmontrobotics/lib199/sim/MockedEncoderTest.java

@@ -9,6 +9,12 @@
 
 import com.revrobotics.REVLibError;
 import com.revrobotics.RelativeEncoder;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkFlexConfig;
+import com.revrobotics.spark.config.SparkMaxConfig;
 
 import org.carlmontrobotics.lib199.Mocks;
 import org.carlmontrobotics.lib199.REVLibErrorAnswer;
@@ -60,8 +66,8 @@ public void testFunctionality() {
     }
 
     private void testFunctionalityWithPositionConversionFactor(double factor, RelativeEncoder enc, SimDouble positionSim) {
-        assertEquals(REVLibError.kOk, enc.setPositionConversionFactor(factor)); //FIXME: make this in a config with positionConversionFactor
-        assertEquals(factor, enc.getPositionConversionFactor(), 0.01);
+        assertEquals(REVLibError.kOk, ((MockedEncoder) enc).setPositionConversionFactor(factor));
+        assertEquals(factor, ((MockedEncoder) enc).getPositionConversionFactor(), 0.01);
         testPosition(10, enc, factor, positionSim);
         testPosition(0, enc, factor, positionSim);
         testPosition(-10, enc, factor, positionSim);
@@ -73,7 +79,7 @@ private void testPosition(double position, RelativeEncoder enc, double conversio
         assertEquals(position, enc.getPosition(), 0.02);
         assertEquals(REVLibError.kOk, enc.setPosition(0));
         assertEquals(0, enc.getPosition(), 0.02);
-        positionSim.set(position / enc.getPositionConversionFactor() + positionSim.get());
+        positionSim.set(position / ((MockedEncoder) enc).getPositionConversionFactor() + positionSim.get());
         assertEquals(position, enc.getPosition(), 0.02);
     }
 
@@ -87,11 +93,11 @@ private boolean simDeviceExists(String deviceName) {
 
     private SafelyClosable createEncoder(int deviceId) {
         SimDevice device = SimDevice.create("testDevice", deviceId);
-        return (SafelyClosable)Mocks.createMock(
-            RelativeEncoder.class,
-            new MockedEncoder(device, 4096, false, false),
-            new REVLibErrorAnswer(),
-            SafelyClosable.class);
+            return (SafelyClosable)Mocks.createMock(
+                RelativeEncoder.class,
+                new MockedEncoder(device, 4096, false, false),
+                new REVLibErrorAnswer(),
+                SafelyClosable.class, MockedEncoder.RemovedMethods.class);
     }
 
     private void withEncoders(EncoderTest func) {
@@ -112,5 +118,5 @@ private void withEncoder(int id, EncoderTest func) {
     private interface EncoderTest {
         public void test(RelativeEncoder encoder, SimDeviceSim sim, SimDouble posSim);
     }
-    
+
 }