Reimplement follower motor configuration better

StuyPulse · Jan 26, 2024 · ae54f0f · ae54f0f
1 parent 492e18b
commit ae54f0f
Showing 1 changed file with 11 additions and 7 deletions.
diff --git a/src/main/java/com/stuypulse/robot/constants/Motors.java b/src/main/java/com/stuypulse/robot/constants/Motors.java
@@ -90,23 +90,20 @@ public static class CANSparkMaxConfig {
         public final IdleMode IDLE_MODE;
         public final int CURRENT_LIMIT_AMPS;
         public final double OPEN_LOOP_RAMP_RATE;
-        public final CANSparkMax FOLLOWS;
 
         public CANSparkMaxConfig(
                 boolean inverted,
                 IdleMode idleMode,
                 int currentLimitAmps,
-                double openLoopRampRate,
-                CANSparkMax follows) {
+                double openLoopRampRate) {
             this.INVERTED = inverted;
             this.IDLE_MODE = idleMode;
             this.CURRENT_LIMIT_AMPS = currentLimitAmps;
             this.OPEN_LOOP_RAMP_RATE = openLoopRampRate;
-            this.FOLLOWS = follows;
         }
 
         public CANSparkMaxConfig(boolean inverted, IdleMode idleMode, int currentLimitAmps) {
-            this(inverted, idleMode, currentLimitAmps, 0.0, null);
+            this(inverted, idleMode, currentLimitAmps, 0.0);
         }
 
         public CANSparkMaxConfig(boolean inverted, IdleMode idleMode) {
@@ -118,9 +115,16 @@ public void configure(CANSparkMax motor) {
             motor.setIdleMode(IDLE_MODE);
             motor.setSmartCurrentLimit(CURRENT_LIMIT_AMPS);
             motor.setOpenLoopRampRate(OPEN_LOOP_RAMP_RATE);
-            if (FOLLOWS != null) motor.follow(FOLLOWS);
+            motor.burnFlash();
+        }
+
+        public void configureAsFollower(CANSparkMax motor, CANSparkMax follows) {
+            motor.setInverted(INVERTED);
+            motor.setIdleMode(IDLE_MODE);
+            motor.setSmartCurrentLimit(CURRENT_LIMIT_AMPS);
+            motor.setOpenLoopRampRate(OPEN_LOOP_RAMP_RATE);
+            motor.follow(follows);
             motor.burnFlash();
          }
-
      }
 }