Simple mech add on

.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://docs.carlmontrobotics.org/lib199/).
+This projects builds `lib199.jar` which contains code that reuse across projects/years. The javadocs can be found [here](https://deepbluerobotics.github.io/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

@@ -13,6 +13,9 @@ 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();
     }
@@ -40,10 +43,37 @@ 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);
@@ -54,6 +84,13 @@ public void simulationPeriodic() {
         periodicSimulationMethods.forEach(RUN_RUNNABLE);
     }
 
+    @Deprecated
+    /**
+     * No longer does anything.
+     */
+    public synchronized void asyncPeriodic() {
+    }
+
     private Lib199Subsystem() {}
 
 }

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

@@ -214,6 +214,11 @@ public Pose3d getTransform(Transform transform) {
         return new Pose3d(rawData[0], rawData[1], rawData[2], new Rotation3d(Math.toRadians(rawData[3]), Math.toRadians(rawData[4]), Math.toRadians(rawData[5])));
     }
 
+    /**
+     * Gets Limelight Network Tables
+     * @param key id of the NT
+     * @return the NT
+     */
     public NetworkTableEntry getNTEntry(String key) {
         return NetworkTableInstance.getDefault().getTable(config.ntName).getEntry(key);
     }

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

@@ -2,27 +2,20 @@
 
 public class MotorConfig {
 
-    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
+    public static final MotorConfig NEO = new MotorConfig(70, 40);
+    public static final MotorConfig NEO_550 = new MotorConfig(40, 20);
 
     // 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, 40, MotorControllerType.SPARK_FLEX);
-    public static final MotorConfig NEO_SOLO_VORTEX = new MotorConfig(100, 40, MotorControllerType.SPARK_MAX);
+    public static final MotorConfig NEO_VORTEX = new MotorConfig(100, 60);
     public final int temperatureLimitCelsius, currentLimitAmps;
-    public final MotorControllerType controllerType;
 
-    public MotorConfig(int temperatureLimitCelsius, int currentLimitAmps, MotorControllerType controllerType) {
+    public MotorConfig(int temperatureLimitCelsius, int currentLimitAmps) {
         this.temperatureLimitCelsius = temperatureLimitCelsius;
         this.currentLimitAmps = currentLimitAmps;
-        this.controllerType = controllerType;
     }
 
-    public MotorControllerType getControllerType() {
-        return controllerType;
-    }
 }