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Merged
spderman3333 merged 7 commits into from
Oct 13, 2025
Merged

Stefan/fix disable 79 #81

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f7777ea
Fixed the disable method in MotorSubystem (now called PositionalMotor…
spderman3333 Oct 11, 2025
6fd0fa2
Cherrypicked c646ea4 and rerenamed a class, to prevent need for major…
spderman3333 Oct 13, 2025
4a94d3d
I wish spotless was automatic
spderman3333 Oct 13, 2025
f3e542a
Removed unnessesary deprecation.
spderman3333 Oct 13, 2025
3305d27
Removed discord.xml, an unnesessary file, and added it to gitignore i…
spderman3333 Oct 13, 2025
8086ede
Refactored some javadocs.
spderman3333 Oct 13, 2025
63e173b
Spotless
spderman3333 Oct 13, 2025
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1 change: 1 addition & 0 deletions .idea/.gitignore
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22 changes: 22 additions & 0 deletions .idea/compiler.xml
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3 changes: 3 additions & 0 deletions lib/src/main/java/com/team2813/lib2813/control/Motor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,4 +29,7 @@ public interface Motor {
* @return The current applied current
*/
Current getAppliedCurrent();

/** Stops the motor. */
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@vdikov vdikov Oct 13, 2025

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Do you know: does this only cut power off, or does it also actively apply the break to the motor?

I see that for the TalonFXWrapper you can control this, so you might have to clarify here:

Depending on the motor setting, this can cruise or break... or something along those lines.

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@spderman3333 spderman3333 Oct 13, 2025

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This method depends on the individual implementation of the motor controller, it is out of our hands I believe.

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@kcooney kcooney Oct 14, 2025

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If you are correct that the behavior may differ by motor then let's please update the Javadoc to mention that.

CC @cuttestkittensrule in case he has knowledge about how the APIs of the motors we use might differ.

void disable();
}
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@kcooney kcooney Oct 14, 2025 •
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@spderman3333 as mentioned in the other PR, disable() is a confusing name since the reader could think this disables the controller (especially if a class implements Motor and Controller) and/or that you need to re-enable it somehow.

Given the description of this method, could you please send a PR renaming this to stopMotor()?

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@spderman3333 spderman3333 Oct 14, 2025

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The scope of the PR does not cover refactoring, as the method is introduced as "disable()" in MotorSubsystem, i have decided to name the method accordingly.

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@kcooney kcooney Oct 14, 2025 •
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This PR was submitted. My request is to send another, renaming Motor.disable() to stopMotor()

We could deprecate MotorSubsystem.disable() if you'd like

5 changes: 5 additions & 0 deletions lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,11 @@ public Current getAppliedCurrent() {
return Units.Amps.of(motor.getOutputCurrent());
}

@Override
public void disable() {
motor.stopMotor();
}

@Override
public void setPosition(double position) {
encoder.setPosition(position);
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22 changes: 22 additions & 0 deletions lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
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Expand Up @@ -13,6 +13,7 @@
import com.team2813.lib2813.control.DeviceInformation;
import com.team2813.lib2813.control.InvertType;
import com.team2813.lib2813.control.PIDMotor;
import com.team2813.lib2813.subsystems.MotorSubsystem;
import com.team2813.lib2813.util.InvalidCanIdException;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
Expand Down Expand Up @@ -162,10 +163,31 @@ public TalonFX motor() {
return motor;
}

/**
* Sets the behavior the motor should exhibit upon receiving a request to stop: {@link
* MotorSubsystem#disable()}
*
* <ul>
* <li>Coast: The motor stops applying an input, but continues to move with its inertia.
* <li>Brake: The motor stops applying an input, and actively opposes its inertia.
* </ul>
Comment on lines +170 to +173
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@cuttestkittensrule cuttestkittensrule Oct 13, 2025

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Same as prior PR; CTRE may add, remove, or modify the meaning of the neutral mode values, so enumerating them isn't a good idea.

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@kcooney kcooney Oct 14, 2025

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+1

*
* @param mode
*/
public void setNeutralMode(NeutralModeValue mode) {
motor.setNeutralMode(mode);
}

/**
* Sends a disable command to the motor, placing it in its neutral value.
*
* @see TalonFXWrapper#setNeutralMode(NeutralModeValue)
*/
@Override
public void disable() {
motor.disable();
}

@Override
public void configPIDF(int slot, double p, double i, double d, double f) {
SlotConfigs conf = new SlotConfigs();
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2 changes: 1 addition & 1 deletion lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
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Expand Up @@ -136,7 +136,7 @@ public final void enable() {
*/
public final void disable() {
isEnabled = false;
motor.set(controlMode, 0);
motor.disable();
}

/**
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