Merge pull request #1 from bow4290/better-implementation

Signifigantly better version of GenericMotor.java, using interfaces and composing implementations with official APIs

Author: JumpingPistachio

src/main/java/frc/robot/lib/GenericMotorHandler.java

@@ -0,0 +1,20 @@
+package frc.robot.lib.GenericMotors;
+
+/**
+ * An unofficial generic for motors, similiar to MotorController interface. Not entirely intended for every-day use cases.
+ */
+public interface GenericMotor {
+
+  void setSpeed(double speedPercentage);
+  
+  double getSpeed();
+
+  void setInverted(boolean isInverted);
+
+  boolean getInverted();
+
+  
+
+
+
+}

src/main/java/frc/robot/lib/GenericMotors/GenericMotor.java

@@ -0,0 +1,40 @@
+package frc.robot.lib.GenericMotors;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+public class GenericSparkMax implements GenericMotor {
+  int motorID;
+  
+  CANSparkMax motorSparkMax;
+  MotorType motorType;
+
+  public GenericSparkMax(int motorID, MotorType motorType){
+    this.motorID = motorID;
+    this.motorType = motorType;
+
+    this.motorSparkMax = new CANSparkMax(this.motorID, this.motorType);
+    System.out.printf("New CanSparkMax constructed with GenericSparkMax at motor ID: %d", this.motorID);
+  }
+
+  @Override
+  public void setSpeed(double speedPercentage) {
+    motorSparkMax.set(speedPercentage);
+  }
+
+  @Override
+  public double getSpeed() {
+    return motorSparkMax.get();
+  }
+
+  @Override
+  public void setInverted(boolean isInverted) {
+    motorSparkMax.setInverted(isInverted);
+  }
+
+  @Override
+  public boolean getInverted() {
+    return motorSparkMax.getInverted();
+  }
+  
+}

src/main/java/frc/robot/lib/GenericMotors/GenericSparkMax.java

@@ -0,0 +1,37 @@
+package frc.robot.lib.GenericMotors;
+
+
+import com.ctre.phoenix6.hardware.TalonFX;
+
+public class GenericTalonFX implements GenericMotor{
+  TalonFX motorTalon;
+  int motorID;
+
+  public GenericTalonFX(int motorID){
+    this.motorID = motorID;
+
+    this.motorTalon = new TalonFX(this.motorID);
+    System.out.printf("New TalonFX constructed with GenericTalonFX at motor ID: %d", this.motorID);
+  }
+  
+  @Override
+  public void setSpeed(double speedPercentage) {
+    motorTalon.set(speedPercentage);
+  }
+
+  @Override
+  public double getSpeed() {
+    return motorTalon.get();
+  }
+
+  @Override
+  public void setInverted(boolean isInverted) {
+    motorTalon.setInverted(isInverted);
+  }
+
+  @Override
+  public boolean getInverted() {
+    return motorTalon.getInverted();
+  }
+  
+}