Code cleanup

src/main/java/org/lasarobotics/battery/BatteryTracker.java

@@ -26,6 +26,8 @@ public Hardware(BatteryScanner scanner) {
 
   /**
    * Create battery tracker
+   * <p>
+   * Uses a Waveshare barcode scanner (https://a.co/d/ij6mFif)
    * @param batteryHardware Hardware devices required by battery tracker
    */
   public BatteryTracker(Hardware batteryHardware) {

src/main/java/org/lasarobotics/hardware/Analog.java

@@ -52,6 +52,7 @@ private void updateInputs() {
   /**
    * Call this method periodically
    */
+  @Override
   public void periodic() {
     updateInputs();
     Logger.getInstance().processInputs(m_id.name, m_inputs);
@@ -61,6 +62,7 @@ public void periodic() {
    * Get latest sensor input data
    * @return Latest sensor data
    */
+  @Override
   public AnalogInputsAutoLogged getInputs() {
     return m_inputs;
   }

src/main/java/org/lasarobotics/hardware/DMAService.java

@@ -1,13 +1,14 @@
+// Copyright (c) LASA Robotics and other contributors
+// Open Source Software; you can modify and/or share it under the terms of
+// the MIT license file in the root directory of this project
+
 package org.lasarobotics.hardware;
 
 import org.lasarobotics.utils.GlobalConstants;
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.wpilibj.DMA;
 import edu.wpi.first.wpilibj.DMASample;
-// Copyright (c) LASA Robotics and other contributors
-// Open Source Software; you can modify and/or share it under the terms of
-// the MIT license file in the root directory of this project.
 
 import edu.wpi.first.wpilibj.DMASample.DMAReadStatus;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;

src/main/java/org/lasarobotics/hardware/LimitSwitch.java

@@ -72,6 +72,7 @@ private void updateInputs() {
   /**
    * Call this method periodically
    */
+  @Override
   public void periodic() {
     updateInputs();
     Logger.getInstance().processInputs(m_id.name, m_inputs);
@@ -81,6 +82,7 @@ public void periodic() {
    * Get latest sensor input data
    * @return Latest sensor data
    */
+  @Override
   public LimitSwitchInputsAutoLogged getInputs() {
     return m_inputs;
   }

src/main/java/org/lasarobotics/hardware/NavX2.java

@@ -146,6 +146,7 @@ private void updateInputs() {
   /**
    * Call this method periodically
    */
+  @Override
   public void periodic() {
     updateInputs();
     Logger.getInstance().processInputs(m_name, m_inputs);
@@ -155,6 +156,7 @@ public void periodic() {
    * Get latest sensor input data
    * @return Latest NavX data
    */
+  @Override
   public NavX2InputsAutoLogged getInputs() {
     return m_inputs;
   }

src/main/java/org/lasarobotics/hardware/SparkMax.java

@@ -199,6 +199,32 @@ private double getAbsoluteEncoderVelocity() {
     return getAbsoluteEncoder().getVelocity();
   }
 
+  /**
+   * Returns an object for interfacing with the forward limit switch connected to the appropriate
+   * pins on the data port.
+   *
+   * <p>This call will disable support for the alternate encoder.
+   *
+   * @param switchType Whether the limit switch is normally open or normally closed.
+   * @return An object for interfacing with the forward limit switch.
+   */
+  private SparkMaxLimitSwitch getForwardLimitSwitch() {
+    return m_spark.getForwardLimitSwitch(m_limitSwitchType);
+  }
+
+  /**
+   * Returns an object for interfacing with the reverse limit switch connected to the appropriate
+   * pins on the data port.
+   *
+   * <p>This call will disable support for the alternate encoder.
+   *
+   * @param switchType Whether the limit switch is normally open or normally closed.
+   * @return An object for interfacing with the reverse limit switch.
+   */
+  private SparkMaxLimitSwitch getReverseLimitSwitch() {
+    return m_spark.getReverseLimitSwitch(m_limitSwitchType);
+  }
+
   /**
    * Update sensor input readings
    */
@@ -209,8 +235,8 @@ private void updateInputs() {
     m_inputs.analogVelocity = getAnalogVelocity();
     m_inputs.absoluteEncoderPosition = getAbsoluteEncoderPosition();
     m_inputs.absoluteEncoderVelocity = getAbsoluteEncoderVelocity();
-    m_inputs.forwardLimitSwitch = m_spark.getForwardLimitSwitch(m_limitSwitchType).isPressed();
-    m_inputs.reverseLimitSwitch = m_spark.getReverseLimitSwitch(m_limitSwitchType).isPressed();
+    m_inputs.forwardLimitSwitch = getForwardLimitSwitch().isPressed();
+    m_inputs.reverseLimitSwitch = getReverseLimitSwitch().isPressed();
   }
 
   /**
@@ -236,6 +262,7 @@ public void addToSimulation(DCMotor motor) {
   /**
    * Call this method periodically
    */
+  @Override
   public void periodic() {
     updateInputs();
     Logger.getInstance().processInputs(m_id.name, m_inputs);
@@ -247,6 +274,7 @@ public void periodic() {
    * Get latest sensor input data
    * @return Latest sensor data
    */
+  @Override
   public SparkMaxInputsAutoLogged getInputs() {
     return m_inputs;
   }

src/main/java/org/lasarobotics/led/LEDSubsystem.java

@@ -14,7 +14,6 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class LEDSubsystem extends SubsystemBase implements AutoCloseable {
-  private static boolean m_override = false;
   private static Pattern m_overridePattern = Pattern.TEAM_COLOR_SOLID;
 
   private static LEDSubsystem m_subsystem;
@@ -35,14 +34,9 @@ private void setLEDs() {
     for (LEDStrip ledStrip : m_ledStrips) ledStrip.update();
   }
 
-  private void overrideLEDs() {
-    for (LEDStrip ledStrip : m_ledStrips) ledStrip.set(m_overridePattern, Section.FULL);
-  }
-
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    if (m_override) overrideLEDs();
     setLEDs();
   }
 
@@ -51,13 +45,14 @@ public void add(LEDStrip... ledStrips) {
   }
 
   public void startOverride(Pattern pattern) {
-    m_override = true;
     m_overridePattern = pattern;
-    for (LEDStrip ledStrip : m_ledStrips) ledStrip.startOverride();
+    for (LEDStrip ledStrip : m_ledStrips) {
+      ledStrip.startOverride();
+      ledStrip.set(m_overridePattern, Section.FULL);
+    }
   }
 
   public void endOverride() {
-    m_override = false;
     m_overridePattern = Pattern.TEAM_COLOR_SOLID;
     for (LEDStrip ledStrip : m_ledStrips) ledStrip.endOverride();
   }

src/main/java/org/lasarobotics/utils/SparkPIDConfig.java

@@ -16,7 +16,7 @@
 public class SparkPIDConfig {
   private static final double MAX_VOLTAGE = 12.0;
   private static final int PID_SLOT = 0;
-  
+
   private boolean m_enableSoftLimits = true;
 
   private boolean m_sensorPhase = false;
@@ -83,7 +83,7 @@ public SparkPIDConfig(PIDConstants pidf, boolean sensorPhase, boolean invertMoto
    * @param forwardLimitSwitch Enable forward limit switch
    * @param reverseLimitSwitch Enable reverse limit switch
    */
-  public void initializeSparkPID(CANSparkMax spark, MotorFeedbackSensor feedbackSensor, 
+  public void initializeSparkPID(CANSparkMax spark, MotorFeedbackSensor feedbackSensor,
                                  boolean forwardLimitSwitch, boolean reverseLimitSwitch) {
     // Reset Spark to default
     spark.restoreFactoryDefaults();
@@ -96,7 +96,7 @@ public void initializeSparkPID(CANSparkMax spark, MotorFeedbackSensor feedbackSe
       pidController.setFeedbackDevice(feedbackSensor);
       feedbackSensor.setInverted(m_sensorPhase);
     } catch (IllegalArgumentException e) {}
-    
+
     // Configure forward and reverse soft limits
     if (m_enableSoftLimits) {
       spark.setSoftLimit(CANSparkMax.SoftLimitDirection.kForward, (float) m_upperLimit);
@@ -141,7 +141,7 @@ public void initializeSparkPID(CANSparkMax spark, MotorFeedbackSensor feedbackSe
   /**
    * Initializes Spark PID
    * <p>
-   * Calls {@link SparkPIDConfig#initializeSparkPID(CANSparkMax, MotorFeedbackSensor, boolean, boolean)} with no limit switches 
+   * Calls {@link SparkPIDConfig#initializeSparkPID(CANSparkMax, MotorFeedbackSensor, boolean, boolean)} with no limit switches
    * @param spark Spark motor controller to apply settings to
    * @param feedbackSensor Feedback device to use for Spark PID
    */

src/main/java/org/lasarobotics/utils/TalonPIDConfig.java

@@ -11,7 +11,7 @@
 
 import edu.wpi.first.math.MathUtil;
 
-/** 
+/**
  * Automates the configuration of Talon PID and MotionMagic parameters
  */
 public class TalonPIDConfig {
@@ -93,7 +93,7 @@ public TalonPIDConfig(PIDConstants pidf, boolean sensorPhase, boolean invertMoto
     this.m_lowerLimit = lowerLimit;
     this.m_upperLimit = upperLimit;
     this.m_enableSoftLimits = enableSoftLimits;
-    
+
     this.m_velocityRPM = velocity;
     this.m_accelerationRPMPerSec = acceleration;
     this.m_motionSmoothing = MathUtil.clamp(motionSmoothing, MIN_MOTION_SMOOTHING, MAX_MOTION_SMOOTHING);
@@ -108,14 +108,14 @@ public TalonPIDConfig(PIDConstants pidf, boolean sensorPhase, boolean invertMoto
    * @param forwardLimitSwitch Enable forward limit switch
    * @param reverseLimitSwitch Enable reverse limit switch
    */
-  public void initializeTalonPID(BaseTalon talon, FeedbackDevice feedbackDevice, 
+  public void initializeTalonPID(BaseTalon talon, FeedbackDevice feedbackDevice,
                                  boolean forwardLimitSwitch, boolean reverseLimitSwitch) {
     // Reset Talon to default
     talon.configFactoryDefault();
 
     // Configure feedback sensor
     talon.configSelectedFeedbackSensor(feedbackDevice);
-    
+
     // Configure forward and reverse soft limits
     if (m_enableSoftLimits) {
       talon.configForwardSoftLimitThreshold(m_upperLimit);
@@ -153,17 +153,17 @@ public void initializeTalonPID(BaseTalon talon, FeedbackDevice feedbackDevice,
     talon.enableVoltageCompensation(true);
 
     // Configure MotionMagic values
-    if (m_motionMagic) {  
+    if (m_motionMagic) {
       talon.configMotionCruiseVelocity(rpmToTicksPer100ms(m_velocityRPM));
       talon.configMotionAcceleration(rpmToTicksPer100ms(m_accelerationRPMPerSec));
       talon.configMotionSCurveStrength(m_motionSmoothing);
-    } 
+    }
   }
 
   /**
    * Initializes Talon PID and MotionMagic parameters
    * <p>
-   * Calls {@link TalonPIDConfig#initializeTalonPID(BaseTalon, FeedbackDevice, boolean, boolean)} with no limit switches 
+   * Calls {@link TalonPIDConfig#initializeTalonPID(BaseTalon, FeedbackDevice, boolean, boolean)} with no limit switches
    * @param talon Talon motor controller to apply settings to
    * @param feedbackDevice Feedback device to use for Talon PID
    */