Modified propagate to take (effectively) a method ref to run

Author: kevinfrei

RobotLibrary/src/main/java/com/technototes/library/hardware/HardwareDeviceGroup.java

@@ -3,6 +3,7 @@
 import com.technototes.library.hardware.motor.Motor;
 import java.util.Arrays;
 import java.util.List;
+import java.util.function.Consumer;
 
 /**
  * Interface for hardware device groups
@@ -38,9 +39,13 @@ default List<T> getAllDeviceList() {
     /**
      * Propagate actions across the followers
      *
-     * @param value the value to propagate
+     * @param func the action to propagate
      */
-    default void propagate(double value) {}
+    default void propagate(Consumer<? super T> func) {
+        for (T obj : getFollowers()) {
+            func.accept(obj);
+        }
+    }
 
     T getDeviceNum(int i);
 

RobotLibrary/src/main/java/com/technototes/library/hardware/motor/EncodedMotorGroup.java

@@ -11,7 +11,7 @@
 @SuppressWarnings("unused")
 public class EncodedMotorGroup<T extends DcMotorSimple>
     extends EncodedMotor<T>
-    implements HardwareDeviceGroup<Motor<T>> {
+    implements HardwareDeviceGroup<EncodedMotor<T>> {
 
     private final EncodedMotor<T>[] followers;
 
@@ -39,17 +39,10 @@ public EncodedMotor<T>[] getAllDevices() {
         return m;
     }
 
-    @Override
-    public void propagate(double value) {
-        for (EncodedMotor<T> m : followers) {
-            m.setSpeed(value);
-        }
-    }
-
     @Override
     public void setVelocity(double tps) {
         super.setVelocity(tps);
-        propagate(super.getSpeed());
+        propagate(obj -> obj.setVelocity(tps));
     }
 
     public void setVelocities(double... tps) {

RobotLibrary/src/main/java/com/technototes/library/hardware/motor/MotorGroup.java

@@ -38,17 +38,10 @@ public Motor<T>[] getAllDevices() {
         return m;
     }
 
-    @Override
-    public void propagate(double value) {
-        for (Motor m : followers) {
-            m.setSpeed(value);
-        }
-    }
-
     @Override
     public void setSpeed(double speed) {
         super.setSpeed(speed);
-        propagate(speed);
+        propagate(obj -> obj.setSpeed(speed));
     }
 
     public void setSpeeds(double... speeds) {

RobotLibrary/src/main/java/com/technototes/library/hardware/servo/ServoGroup.java

@@ -38,13 +38,6 @@ public Servo[] getAllDevices() {
         return m;
     }
 
-    @Override
-    public void propagate(double value) {
-        for (Servo s : followers) {
-            s.setPosition(value);
-        }
-    }
-
     @Override
     public Servo getDeviceNum(int i) {
         return (i == 0) ? this : followers[i - 1];
@@ -53,7 +46,7 @@ public Servo getDeviceNum(int i) {
     @Override
     public void setPosition(double position) {
         super.setPosition(position);
-        propagate(position);
+        propagate(obj -> obj.setPosition(position));
     }
 
     public void setPositions(double... positions) {