Extract Port class

This improves type safety and ensures that can IDs are unique.

Robot2024/.gitignore

@@ -162,7 +162,6 @@ bin/
 *.iml
 *.ipr
 *.iws
-.idea/
 out/
 
 # Fleet

Robot2024/build.gradle

@@ -71,6 +71,7 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testImplementation 'junit:junit:4.13.2'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
@@ -100,6 +101,14 @@ deployArtifact.jarTask = jar
 wpi.java.configureExecutableTasks(jar)
 wpi.java.configureTestTasks(test)
 
+// the magic line that makes tests work :)
+wpi.java.configureTestTasks(test)
+
+tasks.named('test') {
+    // Use JUnit 4 for unit tests.
+    useJUnit()
+}
+
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'

Robot2024/lib/build.gradle

@@ -13,6 +13,11 @@ plugins {
 	id 'maven-publish'
 }
 
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
+
 tasks.withType(JavaCompile) {
     // Configure string concat to always inline compile
     options.compilerArgs.add '-XDstringConcat=inline'
@@ -43,7 +48,7 @@ dependencies {
 
 	implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2023.4.3'
 
-    testImplementation 'junit:junit:4.13'
+    testImplementation 'junit:junit:4.13.2'
 }
 
 // the magic line that makes tests work :)

Robot2024/lib/src/main/java/com/team2813/lib2813/control/imu/Pigeon2Wrapper.java

@@ -4,6 +4,7 @@
 import com.ctre.phoenix.sensors.Pigeon2Configuration;
 import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
 import com.team2813.lib2813.util.ConfigUtils;
+import com.team2813.lib2813.util.Port;
 
 public class Pigeon2Wrapper extends Pigeon2 {
 
@@ -13,23 +14,23 @@ public class Pigeon2Wrapper extends Pigeon2 {
 
     /**
      * Constructor
-     * @param deviceNumber [0,62]
+     * @param port The port to configure.
      * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
      *               or a CANivore device name or serial number
      */
-    public Pigeon2Wrapper(int deviceNumber, String canbus) {
-        super(deviceNumber, canbus);
+    public Pigeon2Wrapper(Port port, String canbus) {
+        super(port.getCanId(), canbus);
         canivore = true;
 
         ConfigUtils.ctreConfig(() -> configAllSettings(new Pigeon2Configuration()));
     }
 
     /**
      * Constructor
-     * @param deviceNumber [0,62]
+     * @param The port to configure.
      */
-    public Pigeon2Wrapper(int deviceNumber) {
-        super(deviceNumber);
+    public Pigeon2Wrapper(Port port) {
+        super(port.getCanId());
         canivore = false;
 
         ConfigUtils.ctreConfig(() -> configAllSettings(new Pigeon2Configuration()));

Robot2024/lib/src/main/java/com/team2813/lib2813/swerve/controllers/drive/Falcon500DriveController.java

@@ -6,6 +6,7 @@
 import com.swervedrivespecialties.swervelib.Mk4ModuleConfiguration;
 import com.swervedrivespecialties.swervelib.ModuleConfiguration;
 import com.team2813.lib2813.util.ConfigUtils;
+import com.team2813.lib2813.util.Port;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardContainer;
 
@@ -18,7 +19,7 @@ public class Falcon500DriveController implements DriveController {
     private SimpleMotorFeedforward feedforward;
     private boolean hasPidConstants = false;
 
-    public Falcon500DriveController(int id, ModuleConfiguration moduleConfiguration, Mk4ModuleConfiguration mk4Configuration) {
+    public Falcon500DriveController(Port port, ModuleConfiguration moduleConfiguration, Mk4ModuleConfiguration mk4Configuration) {
         maxVelocity = 6380.0 / 60.0 * moduleConfiguration.getDriveReduction() * moduleConfiguration.getWheelDiameter() * Math.PI;
 		TalonFXConfiguration motorConfiguration = new TalonFXConfiguration();
 
@@ -30,7 +31,7 @@ public Falcon500DriveController(int id, ModuleConfiguration moduleConfiguration,
 		motorConfiguration.supplyCurrLimit.currentLimit = mk4Configuration.getDriveCurrentLimit();
 		motorConfiguration.supplyCurrLimit.enable = true;
 
-		motor = new TalonFX(id);
+		motor = new TalonFX(port.getCanId());
 		ConfigUtils.ctreConfig(() -> motor.configAllSettings(motorConfiguration));
 
 		motor.enableVoltageCompensation(true);
@@ -48,7 +49,7 @@ public Falcon500DriveController(int id, ModuleConfiguration moduleConfiguration,
 		);
     }
 
-    public Falcon500DriveController(int id, String canbus, ModuleConfiguration moduleConfiguration, Mk4ModuleConfiguration mk4Configuration) {
+    public Falcon500DriveController(Port port, String canbus, ModuleConfiguration moduleConfiguration, Mk4ModuleConfiguration mk4Configuration) {
         maxVelocity = 6380.0 / 60.0 * moduleConfiguration.getDriveReduction() * moduleConfiguration.getWheelDiameter() * Math.PI;
 		TalonFXConfiguration motorConfiguration = new TalonFXConfiguration();
 
@@ -60,7 +61,7 @@ public Falcon500DriveController(int id, String canbus, ModuleConfiguration modul
 		motorConfiguration.supplyCurrLimit.currentLimit = mk4Configuration.getDriveCurrentLimit();
 		motorConfiguration.supplyCurrLimit.enable = true;
 
-		motor = new TalonFX(id, canbus);
+		motor = new TalonFX(port.getCanId(), canbus);
 		ConfigUtils.ctreConfig(() -> motor.configAllSettings(motorConfiguration));
 
 		motor.enableVoltageCompensation(true);

Robot2024/lib/src/main/java/com/team2813/lib2813/swerve/controllers/drive/NeoDriveController.java

@@ -4,6 +4,7 @@
 import com.swervedrivespecialties.swervelib.Mk4ModuleConfiguration;
 import com.swervedrivespecialties.swervelib.ModuleConfiguration;
 import com.team2813.lib2813.util.ConfigUtils;
+import com.team2813.lib2813.util.Port;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardContainer;
 
@@ -16,10 +17,10 @@ public class NeoDriveController implements DriveController {
     private SimpleMotorFeedforward feedforward;
     private boolean hasPidConstants = false;
 
-    public NeoDriveController(int id, ModuleConfiguration moduleConfiguration, Mk4ModuleConfiguration mk4Configuration) {
+    public NeoDriveController(Port port, ModuleConfiguration moduleConfiguration, Mk4ModuleConfiguration mk4Configuration) {
         maxVelocity = 5676.0 / 60.0 * moduleConfiguration.getDriveReduction() * moduleConfiguration.getWheelDiameter();
 
-        motor = new CANSparkMax(id, CANSparkLowLevel.MotorType.kBrushless);
+        motor = new CANSparkMax(port.getCanId(), CANSparkLowLevel.MotorType.kBrushless);
         motor.setInverted(moduleConfiguration.isDriveInverted());
 
         ConfigUtils.revConfig(() -> motor.enableVoltageCompensation(mk4Configuration.getNominalVoltage()));

Robot2024/lib/src/main/java/com/team2813/lib2813/swerve/controllers/steer/Falcon500SteerConfiguration.java

@@ -1,18 +1,19 @@
 package com.team2813.lib2813.swerve.controllers.steer;
 
 import com.swervedrivespecialties.swervelib.ctre.CanCoderAbsoluteConfiguration;
+import com.team2813.lib2813.util.Port;
 
 public class Falcon500SteerConfiguration extends SteerConfiguration {
 
     private final String canbus;
 
-    public Falcon500SteerConfiguration(int motorPort, String canbus, CanCoderAbsoluteConfiguration encoderConfiguration) {
+    public Falcon500SteerConfiguration(Port motorPort, String canbus, CanCoderAbsoluteConfiguration encoderConfiguration) {
         super(motorPort, encoderConfiguration);
 
         this.canbus = canbus;
     }
 
-    public Falcon500SteerConfiguration(int motorPort, CanCoderAbsoluteConfiguration encoderConfiguration) {
+    public Falcon500SteerConfiguration(Port motorPort, CanCoderAbsoluteConfiguration encoderConfiguration) {
         this(motorPort, "", encoderConfiguration);
     }
 

Robot2024/lib/src/main/java/com/team2813/lib2813/swerve/controllers/steer/Falcon500SteerController.java

@@ -55,7 +55,7 @@ public Falcon500SteerController(
 		motorConfiguration.supplyCurrLimit.currentLimit = mk4Configuration.getSteerCurrentLimit();
 		motorConfiguration.supplyCurrLimit.enable = true;
 
-		motor = new TalonFX(steerConfiguration.getMotorPort(), steerConfiguration.getCanbus());
+		motor = new TalonFX(steerConfiguration.getMotorPort().getCanId(), steerConfiguration.getCanbus());
 		ConfigUtils.ctreConfig(() -> motor.configAllSettings(motorConfiguration, 250));
 
 		motor.enableVoltageCompensation(true);

Robot2024/lib/src/main/java/com/team2813/lib2813/swerve/controllers/steer/NeoSteerController.java

@@ -44,7 +44,7 @@ public NeoSteerController(SteerConfiguration steerConfiguration, ModuleConfigura
 
         absoluteEncoder = new SteerEncoder(cancoder);
 
-        motor = new CANSparkMax(steerConfiguration.getMotorPort(), CANSparkLowLevel.MotorType.kBrushless);
+        motor = new CANSparkMax(steerConfiguration.getMotorPort().getCanId(), CANSparkLowLevel.MotorType.kBrushless);
         ConfigUtils.revConfig(() -> motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus0, 100));
         ConfigUtils.revConfig(() -> motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus1, 20));
         ConfigUtils.revConfig(() -> motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus2, 20));

Robot2024/lib/src/main/java/com/team2813/lib2813/swerve/controllers/steer/SteerConfiguration.java

@@ -1,19 +1,20 @@
 package com.team2813.lib2813.swerve.controllers.steer;
 
 import com.swervedrivespecialties.swervelib.ctre.CanCoderAbsoluteConfiguration;
+import com.team2813.lib2813.util.Port;
 
 public class SteerConfiguration {
 
-    private final int motorPort;
+    private final Port motorPort;
 
     private final CanCoderAbsoluteConfiguration encoderConfiguration;
 
-    public SteerConfiguration(int motorPort, CanCoderAbsoluteConfiguration encoderConfiguration) {
+    public SteerConfiguration(Port motorPort, CanCoderAbsoluteConfiguration encoderConfiguration) {
         this.motorPort = motorPort;
         this.encoderConfiguration = encoderConfiguration;
     }
 
-    public int getMotorPort() {
+    public Port getMotorPort() {
         return motorPort;
     }