Add BrakeController utility and integrate into Robot and ModuleIOSpark

Author: recepsirin0

.gitignore

@@ -190,3 +190,4 @@ src/main/java/frc/robot/BuildConstants.java
 # Eclipse generated file for annotation processors
 .factorypath
 
+src/main/java/frc/robot/BuildConstants.java

src/main/java/com/revrobotics/spark/SparkBaseExtensions.java

@@ -0,0 +1,62 @@
+package com.revrobotics.spark;
+
+import com.revrobotics.REVLibError;
+import com.revrobotics.jni.CANSparkJNI;
+
+public class SparkBaseExtensions {
+
+    /**
+     * Checked function for setting controller inverted.
+     *
+     * <p>
+     * This call has no effect if the controller is a follower.
+     *
+     * @param isInverted true = inverted
+     */
+    public static REVLibError setInverted(SparkBase sparkBase, boolean isInverted) {
+        return REVLibError.fromInt(
+                CANSparkJNI.c_Spark_SetInverted(sparkBase.sparkHandle, isInverted));
+    }
+
+    /**
+     * Enable or disable center aligned mode for the duty cycle sensor.
+     *
+     * @param enable true = center aligned enabled
+     */
+    public static REVLibError setCenterAlignedMode(SparkBase sparkBase, boolean enable) {
+        return REVLibError.fromInt(
+                CANSparkJNI.c_Spark_SetParameterBool(sparkBase.sparkHandle, 152, enable));
+    }
+
+    /**
+     * Enable or disable PID voltage output mode.
+     *
+     * <p>
+     * When enabled, PID output is voltage instead of duty cycle.
+     *
+     * @param enable true = PID voltage output
+     */
+    public static REVLibError setPIDVoltageOutput(SparkBase sparkBase, boolean enable) {
+        return REVLibError.fromInt(
+                CANSparkJNI.c_Spark_SetParameterUint32(
+                        sparkBase.sparkHandle, 74, enable ? 1 : 0));
+    }
+
+    /**
+     * Enable or disable brake mode.
+     *
+     * <p>
+     * true = Brake mode
+     * false = Coast mode
+     *
+     * @param brake true = brake, false = coast
+     */
+    public static REVLibError setBrakeMode(SparkBase sparkBase, boolean brake) {
+        // 1 = Brake, 0 = Coast
+        return REVLibError.fromInt(
+                CANSparkJNI.c_Spark_SetParameterUint32(
+                        sparkBase.sparkHandle,
+                        6,
+                        brake ? 1 : 0));
+    }
+}

src/main/java/frc/robot/Robot.java

@@ -9,6 +9,7 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.util.BrakeController;
 import frc.robot.util.battery.BatteryUtils;
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
@@ -104,7 +105,9 @@ public void robotPeriodic() {
 
     /** This function is called once when the robot is disabled. */
     @Override
-    public void disabledInit() {}
+    public void disabledInit() {
+    BrakeController.setAllBrake(false); 
+    }
 
     /** This function is called periodically when disabled. */
     @Override
@@ -114,7 +117,7 @@ public void disabledPeriodic() {}
     @Override
     public void autonomousInit() {
         autonomousCommand = robotContainer.getAutonomousCommand();
-
+        BrakeController.setAllBrake(true); 
         // schedule the autonomous command (example)
         if (autonomousCommand != null) {
             autonomousCommand.schedule();
@@ -132,6 +135,7 @@ public void teleopInit() {
         // teleop starts running. If you want the autonomous to
         // continue until interrupted by another command, remove
         // this line or comment it out.
+        BrakeController.setAllBrake(true); 
         if (autonomousCommand != null) {
             autonomousCommand.cancel();
         }

src/main/java/frc/robot/RobotContainer.java

@@ -139,7 +139,7 @@ public RobotContainer() {
          */
         private void configureButtonBindings() {
 
-                PIDController aimController = new PIDController(2, 0.0, 0.0);
+                PIDController aimController = new PIDController(1, 0.0, 0.0);
                 aimController.enableContinuousInput(-Math.PI, Math.PI);
                 controller
                                 .button(5)

src/main/java/frc/robot/subsystems/LedSubsystem.java

@@ -12,7 +12,6 @@
 import frc.robot.util.led.Led;
 
 public class LedSubsystem extends SubsystemBase {
-        @SuppressWarnings("unchecked")
         public LedSubsystem(Led led) {
                 System.out.println("[LedSubsystem] Constructing LedSubsystem...");
                 led.setStaticColor(Color.kAliceBlue);

src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java

@@ -30,6 +30,8 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.RobotController;
+import frc.robot.util.BrakeController;
+
 import java.util.Queue;
 import java.util.function.DoubleSupplier;
 
@@ -169,6 +171,8 @@ public ModuleIOSpark(int module) {
                                 () -> turnEncoder.setPosition(
                                                 (turnAbsEncoder.getAverageVoltage() / RobotController.getVoltage5V())
                                                                 * 2 * Math.PI)); // If
+                BrakeController.register(driveSpark); // # need test
+                BrakeController.register(turnSpark); // # need test dont use before the test 
                 // inverted
                 // is
                 // true,

src/main/java/frc/robot/util/BrakeController.java

@@ -0,0 +1,24 @@
+package frc.robot.util;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import com.revrobotics.spark.SparkBase;
+import com.revrobotics.spark.SparkBaseExtensions;
+
+public final class BrakeController {
+
+    private static final List<SparkBase> motors = new ArrayList<>();
+
+    private BrakeController() {}
+
+    public static void register(SparkBase motor) {
+        motors.add(motor);
+    }
+
+    public static void setAllBrake(boolean brake) {
+        for (SparkBase motor : motors) {
+            SparkBaseExtensions.setBrakeMode(motor, brake);
+        }
+    }
+}