CreateSpark

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

@@ -56,6 +56,37 @@ public static WPI_TalonSRX createTalon(int id) {
 
     return talon;
   }
+  /**
+   * This class returns a SparkBase, initialized to either a SparkMax or SparkFlex depending on the {@link MotorConfig#controllerType}.
+   * Note that SparkBase lacks some of the functionality of SparkMax and SparkFlex, use {@link MotorControllerFactory#createSparkMax(int, MotorConfig)} or {@link MotorControllerFactory#createSparkFlex(int)} to get a SparkMax or SparkFlex object.
+   * To use the configAccessor, use {@link MotorControllerFactory#getConfigAccessor(SparkBase)}
+   * 
+   * @param id the port of the motor controller
+   * @param motorConfig the motor configuration to use
+   */
+  public static SparkBase createSpark(int id, MotorConfig motorConfig) {
+    return createSpark(id, motorConfig, sparkConfig(motorConfig));
+  }
+  /**
+   * This class returns a SparkBase, initialized to either a SparkMax or SparkFlex depending on the {@link MotorConfig#controllerType}.
+   * Note that SparkBase lacks some of the functionality of SparkMax and SparkFlex, use {@link MotorControllerFactory#createSparkMax(int, MotorConfig, SparkBaseConfig)} or {@link MotorControllerFactory#createSparkFlex(int, MotorConfig, SparkBaseConfig)} to get a SparkMax or SparkFlex object.
+   * To use the configAccessor, use {@link MotorControllerFactory#getConfigAccessor(SparkBase)}
+   * 
+   * @param id the port of the motor controller
+   * @param motorConfig the motor configuration to use
+   * @param config the custom SparkBase configuration to apply instead of the default for the motorConfig
+   */
+  public static SparkBase createSpark(int id, MotorConfig motorConfig, SparkBaseConfig config) {
+    switch(motorConfig.controllerType){
+      case SPARK_MAX:
+        return createSparkMax(id, motorConfig, config);
+      case SPARK_FLEX:
+        return createSparkFlex(id, motorConfig, config);
+      default:
+        return null;
+    }
+  }
+
   /**
    * Create a default sparkMax controller (NEO or 550).
    * 
@@ -88,6 +119,7 @@ public static SparkMax createSparkMax(int id, MotorConfig motorConfig, SparkBase
 
     return spark;
   }
+
   /**
    * Create a default SparkFlex-Vortex controller.  
    * 

src/test/java/org/carlmontrobotics/lib199/MotorControllerFactoryTest.java

@@ -1,13 +1,17 @@
 package org.carlmontrobotics.lib199;
 
 import static org.junit.Assert.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertInstanceOf;
 
 import org.carlmontrobotics.lib199.testUtils.ErrStreamTest;
 import org.carlmontrobotics.lib199.testUtils.TestRules;
 import org.junit.ClassRule;
 import org.junit.Rule;
 import org.junit.Test;
 
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkMax;
+
 public class MotorControllerFactoryTest extends ErrStreamTest {
 
     @ClassRule
@@ -20,7 +24,20 @@ public class MotorControllerFactoryTest extends ErrStreamTest {
     public void testCreateNoErrors() throws Exception {
         // Call close to free PWM ports
         ((AutoCloseable)MotorControllerFactory.createTalon(0)).close();
+
         MotorControllerFactory.createSparkMax(2, MotorConfig.NEO);
+        MotorControllerFactory.createSparkMax(3, MotorConfig.NEO, MotorControllerFactory.sparkConfig(MotorConfig.NEO));
+
+        MotorControllerFactory.createSparkFlex(10);
+        MotorControllerFactory.createSparkFlex(10, MotorConfig.NEO_VORTEX, MotorControllerFactory.sparkConfig(MotorConfig.NEO_VORTEX));
+
+        assertInstanceOf(SparkMax.class, MotorControllerFactory.createSpark(20, MotorConfig.NEO));
+        assertInstanceOf(SparkMax.class, MotorControllerFactory.createSpark(21, MotorConfig.NEO_2));
+        assertInstanceOf(SparkFlex.class, MotorControllerFactory.createSpark(22, MotorConfig.NEO_VORTEX));
+        assertInstanceOf(SparkMax.class, MotorControllerFactory.createSpark(23, MotorConfig.NEO, MotorControllerFactory.sparkConfig(MotorConfig.NEO)));
+        assertInstanceOf(SparkMax.class, MotorControllerFactory.createSpark(24, MotorConfig.NEO_2, MotorControllerFactory.sparkConfig(MotorConfig.NEO_2)));
+        assertInstanceOf(SparkFlex.class, MotorControllerFactory.createSpark(25, MotorConfig.NEO_VORTEX, MotorControllerFactory.sparkConfig(MotorConfig.NEO_VORTEX)));
+
         assertEquals(0, errStream.toByteArray().length);
     }