Merge branch '2025' into SimpleMechAddOn

Author: Niosocket11

.github/workflows/javadoc.yml

@@ -34,4 +34,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v4
+        uses: actions/deploy-pages@v4

README.md

@@ -1,6 +1,6 @@
 # FRC Team 199 Library
 
-This projects builds `lib199.jar` which contains code that reuse across projects/years. The javadocs can be found [here](https://deepbluerobotics.github.io/lib199/).
+This projects builds `lib199.jar` which contains code that reuse across projects/years. The javadocs can be found [here](https://docs.carlmontrobotics.org/lib199/).
 
 ## Changelog
 A changelog is automatically generated with each release and is available on the [Releases](https://github.com/DeepBlueRobotics/lib199/releases) page. Please write documentation for all changes and, if significant enough, add appropriate information to the [programming training website](https://deep-blue-training.readthedocs.io/en/latest/).

src/main/java/org/carlmontrobotics/lib199/Lib199Subsystem.java

@@ -13,9 +13,6 @@ public class Lib199Subsystem implements Subsystem {
     private static final CopyOnWriteArrayList<Runnable> periodicSimulationMethods = new CopyOnWriteArrayList<>();
     private static final Consumer<Runnable> RUN_RUNNABLE = Runnable::run;
 
-    @Deprecated
-    public static final long asyncSleepTime = 20;
-
     static {
         ensureRegistered();
     }
@@ -43,37 +40,10 @@ public static void registerPeriodic(Runnable method) {
         periodicMethods.add(method);
     }
 
-    @Deprecated
-    /**
-     * @deprecated Use registerSimulationPeriodic
-     * @param method
-     */
-    public static void simulationPeriodic(Runnable method) {
-        registerSimulationPeriodic(method);
-    }
-
     public static void registerSimulationPeriodic(Runnable method) {
         periodicSimulationMethods.add(method);
     }
 
-    @Deprecated
-    /**
-     * @deprecated Use registerPeriodic
-     * @param method
-     */
-    public static void registerAsyncPeriodic(Runnable method) {
-        registerPeriodic(method);
-    }
-
-    @Deprecated
-    /**
-     * @deprecated Use registerSimulationPeriodic
-     * @param method
-     */
-    public static void registerAsyncSimulationPeriodic(Runnable method) {
-        registerSimulationPeriodic(method);
-    }
-
     @Override
     public void periodic() {
         periodicMethods.forEach(RUN_RUNNABLE);
@@ -84,13 +54,6 @@ public void simulationPeriodic() {
         periodicSimulationMethods.forEach(RUN_RUNNABLE);
     }
 
-    @Deprecated
-    /**
-     * No longer does anything.
-     */
-    public synchronized void asyncPeriodic() {
-    }
-
     private Lib199Subsystem() {}
 
 }

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

@@ -2,20 +2,27 @@
 
 public class MotorConfig {
 
-    public static final MotorConfig NEO = new MotorConfig(70, 40);
-    public static final MotorConfig NEO_550 = new MotorConfig(40, 20);
+    public static final MotorConfig NEO = new MotorConfig(70, 40, MotorControllerType.SPARK_MAX);
+    public static final MotorConfig NEO_550 = new MotorConfig(70, 40, MotorControllerType.SPARK_MAX);
+    public static final MotorConfig NEO_2 = new MotorConfig(70, 40, MotorControllerType.SPARK_MAX); //TODO: find the max temp for NEO 2.0
 
     // The temp limit of 100C for the Vortex is based on the fact that its temp sensors are mounted directly on the
     // windings (which is not the case for the Neo or Neo550, causing them to have very delayed temp readings) and the 
     // fact that the winding enamel will melt at 140C. 
     // See: https://www.chiefdelphi.com/t/rev-robotics-spark-flex-and-neo-vortex/442595/349?u=brettle
     // As a result I think 100C should be safe. I wouldn't increase it past 120. --Dean
-    public static final MotorConfig NEO_VORTEX = new MotorConfig(100, 60);
+    public static final MotorConfig NEO_VORTEX = new MotorConfig(100, 40, MotorControllerType.SPARK_FLEX);
+    public static final MotorConfig NEO_SOLO_VORTEX = new MotorConfig(100, 40, MotorControllerType.SPARK_MAX);
     public final int temperatureLimitCelsius, currentLimitAmps;
+    public final MotorControllerType controllerType;
 
-    public MotorConfig(int temperatureLimitCelsius, int currentLimitAmps) {
+    public MotorConfig(int temperatureLimitCelsius, int currentLimitAmps, MotorControllerType controllerType) {
         this.temperatureLimitCelsius = temperatureLimitCelsius;
         this.currentLimitAmps = currentLimitAmps;
+        this.controllerType = controllerType;
     }
 
+    public MotorControllerType getControllerType() {
+        return controllerType;
+    }
 }