saving

src/main/java/frc/lib/hardware/HardwareRequirments.java

@@ -7,9 +7,12 @@ public interface HardwareRequirments extends AutoCloseable, LoggableInputs {
 
   boolean connected();
 
-  default void toLog(LogTable table, String path) {}
+  default void toLog(LogTable table, String path) {
+  }
 
-  default void fromLog(LogTable table) {}
+  default void fromLog(LogTable table) {
+  }
 
-  default void toLog(LogTable table) {}
+  default void toLog(LogTable table) {
+  }
 }

src/main/java/frc/lib/hardware/Motors/Motor2.java

@@ -0,0 +1,200 @@
+package frc.lib.hardware.Motors;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.simulation.FlywheelSim;
+import frc.lib.hardware.HardwareRequirments;
+import frc.lib.hardware.Motors.MotorControlers.MotorController;
+import frc.lib.hardware.Motors.MotorControlers.Talon_SRX;
+import frc.lib.hardware.Motors.PID.EncoderConfigs;
+import frc.lib.hardware.Motors.PID.PIDConfigs;
+import frc.lib.hardware.Motors.PID.SimConfig;
+import frc.lib.hardware.sensor.encoders.Encoder;
+import frc.robot.Robot;
+import org.littletonrobotics.junction.LogTable;
+
+public class Motor2 implements HardwareRequirments {
+  // Enums --------------
+  public enum Type {
+    CIM(DCMotor.getFalcon500(1)),
+    Falcon500(DCMotor.getFalcon500Foc(1)),
+    VP775(DCMotor.getFalcon500(1));
+
+    private DCMotor dcMotor;
+
+    private Type(DCMotor dcMotor) {
+      this.dcMotor = dcMotor;
+    }
+
+    protected DCMotor config() {
+      return this.dcMotor;
+    }
+  }
+
+  public enum ControllerType {
+    TallonSRX(new Talon_SRX());
+
+    MotorController mController;
+
+    private ControllerType(MotorController mController) {
+      this.mController = mController;
+    }
+
+    public MotorController config(int canID) {
+      return mController.config(canID);
+    }
+  }
+
+  // -----------------------------------------
+  private final MotorController mController;
+  private final Type mType;
+  private Encoder mEncoder;
+
+  private boolean hasEncoder = false;
+  private boolean isSimulated = false;
+
+  private String name;
+
+  public Motor2(ControllerType motorControllerType, int canID, Type motor) {
+    this.mController = motorControllerType.config(canID);
+    this.mType = motor;
+    this.name = "Motor" + canID;
+    this.isSimulated = RobotBase.isSimulation();
+  }
+
+  // ----------------- COnfigs ---------------------
+  public Motor addEncoder(Encoder encoder) {
+    this.mEncoder = encoder;
+    hasEncoder = true;
+    return this;
+  }
+
+  public Motor inverted(boolean enable) {
+    mController.setInverted(enable);
+
+    return this;
+  }
+
+  public Motor brakeMode(boolean enable) {
+    mController.brakeMode(enable);
+
+    return this;
+  }
+
+  private PIDController mFeedback;
+
+  public Motor pidConfigs(PIDConfigs PIDConfigs) {
+    mFeedback = new PIDController(1, 0, 0);
+
+    return this;
+  }
+
+  public Motor EncoderConfigs(EncoderConfigs encoderConfigs) {
+
+    return this;
+  }
+
+  public Motor setName(String name) {
+    this.name = name;
+    return this;
+  }
+
+  // controlling Motor contoler ---------------------------------
+  public void setVolts(double Volts) {
+    mController.runVolts(Volts);
+  }
+
+  public void setPositoin(double Positoin) {
+    if (!hasEncoder) {
+      throw new Error("you dumb. This motor has no encoder");
+    }
+
+    mSimFeedback.setSetpoint(Positoin);
+    // mFeedback.setSetpoint(Positoin);
+
+    // mAppliedVolts = mFeedback.calculate(getPositoin());
+    // mAppliedVolts = MathUtil.clamp(mAppliedVolts, -12.0, 12.0);
+
+    setVolts(mAppliedVolts);
+  }
+
+  public void setVelocity(double velocity) {
+    if (!hasEncoder) {
+      throw new Error("you dumb. This motor has no encoder");
+    }
+    mSimFeedback.setSetpoint(velocity);
+    // mFeedback.setSetpoint(velocity);
+
+    // mAppliedVolts = mFeedback.calculate(getVelocity());
+    // mAppliedVolts = MathUtil.clamp(mAppliedVolts, -12.0, 12.0);
+
+    setVolts(mAppliedVolts);
+  }
+
+  public void disable() {
+    mController.disable();
+  }
+
+  // get ---------------------------------
+  public int getCanID() {
+    return mController.getCanID();
+  }
+
+  @Override
+  public void close() throws Exception {
+    mController.close();
+    mEncoder.close();
+  }
+
+  public double getPositoin() {
+    if (!hasEncoder) {
+      throw new Error("you dumb. This motor has no encoder");
+    }
+    if (RobotBase.isReal()) {
+      return mEncoder.getPositoin();
+    } else {
+      if (simVelocity)
+        return mSimPositionMeters;
+      else
+        return mSimPositionRad;
+    }
+  }
+
+  public double getVelocity() {
+    if (!hasEncoder) {
+      throw new Error("you dumb. This motor has no encoder");
+    }
+    if (RobotBase.isReal()) {
+      return mEncoder.getVelocity();
+    } else {
+      return mSimVelocityDeg;
+    }
+  }
+
+  // Required ---------------------------
+
+  @Override
+  public void toLog(LogTable table) {
+    mController.toLog(table, name);
+    table.put(name + "/Motor Type", mType.toString());
+    if (hasEncoder) {
+      table.put(name + "/Position (degrees)", getPositoin());
+      table.put(name + "/Velocity (degreesPerSecond)", getVelocity());
+      table.put(name + "/Velocity (MetersPerSecond)", getVelocity() * Units.inchesToMeters(2));
+      // table.put(name + "/AppliedVolts (Volts)", mAppliedVolts);
+      // table.put(name + "/CurrentDraw (Amps)", Math.abs(mSim.getCurrentDrawAmps()));
+    }
+  }
+
+  @Override
+  public boolean connected() {
+    if (!mController.connected())
+      return false;
+    if (hasEncoder)
+      return mEncoder.connected();
+    return true;
+  }
+}

src/main/java/frc/robot/Subsytems/Intake/IntakeHardware.java

@@ -1,6 +1,5 @@
 package frc.robot.Subsytems.Intake;
 
-import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.Preferences;
 import frc.lib.hardware.Motors.*;
 import frc.lib.hardware.sensor.proximitySwitch.*;
@@ -61,6 +60,7 @@ public void setSimpleName(String SimpleName) {
   @Override
   public void close() throws Exception {
     switch1.close();
+    mIntake.close();
   }
 
   // prefrances ------------------
@@ -72,12 +72,6 @@ public void loadPreferences() {
     setPercentOut = Preferences.getDouble(SimpleName + "/maxVolts", setPercentOut);
   }
 
-  @Override
-  public void initSendable(SendableBuilder builder) {
-    // TODO Auto-generated method stub
-    throw new UnsupportedOperationException("Unimplemented method 'initSendable'");
-  }
-
   @Override
   public void toLog(LogTable table) {
     table.put("setPercentOut", setPercentOut);

src/main/java/frc/robot/Subsytems/Intake/IntakeRequirments.java

@@ -1,9 +1,8 @@
 package frc.robot.Subsytems.Intake;
 
-import edu.wpi.first.util.sendable.Sendable;
 import frc.robot.Subsytems.SubsytemRequirments;
 
-public interface IntakeRequirments extends SubsytemRequirments, Sendable {
+public interface IntakeRequirments extends SubsytemRequirments {
 
   // Controling the hardware
   void setOutakeSpeed();