Adding SparkMaxIO

src/main/java/com/team2648/iocore/commons/CommonMotorControllerConfig.java

@@ -1,5 +1,7 @@
 package com.team2648.iocore.commons;
 
+import com.revrobotics.spark.config.SparkMaxConfig;
+
 public class CommonMotorControllerConfig {
     private boolean isInverted;
 
@@ -16,4 +18,11 @@ public class CommonMotorControllerConfig {
 
         return this;
     }
+
+    public SparkMaxConfig getAsSparkMaxConfig() {
+        // TODO More config
+        SparkMaxConfig config = new SparkMaxConfig();
+        config.inverted(isInverted);
+        return config;
+    }
 }

src/main/java/com/team2648/iocore/realio/SparkMaxIO.java

@@ -0,0 +1,84 @@
+package com.team2648.iocore.realio;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.team2648.iocore.abstracts.EncoderIO;
+import com.team2648.iocore.abstracts.MotorControllerIO;
+import com.team2648.iocore.commons.CommonMotorControllerConfig;
+import com.team2648.iocore.enums.MotorControllerEncoderType;
+
+import edu.wpi.first.wpilibj.RobotController;
+
+public class SparkMaxIO extends MotorControllerIO {
+    private SparkMax motor;
+
+    private String name;
+
+    public SparkMaxIO(String name, int canID, MotorType type) {
+        super(
+            "/SparkMax/" + name,
+            ControlTypes.kDutyCycle,
+            ControlTypes.kPIDPosition,
+            ControlTypes.kPIDVelocity
+        );
+
+        motor = new SparkMax(canID, type);
+
+        this.name = name;
+    }
+
+    @Override
+    public double getOutputVoltage() {
+        return motor.getAppliedOutput() * RobotController.getBatteryVoltage();
+    }
+
+    @Override
+    public void applyConfig(CommonMotorControllerConfig config) {
+        motor.configure(
+            config.getAsSparkMaxConfig(), 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+    }
+
+    @Override
+    public void run(ControlTypes type, double controlValue) {
+        switch (type) {
+            case kDutyCycle:
+                motor.set(controlValue);
+                break;
+            case kPIDPosition:
+                motor.getClosedLoopController().setSetpoint(
+                    controlValue, 
+                    ControlType.kPosition
+                );
+                break;
+            case kPIDVelocity:
+                motor.getClosedLoopController().setSetpoint(
+                    controlValue, 
+                    ControlType.kVelocity
+                );
+                break;
+            default:
+                throw new UnsupportedOperationException("SparkMaxIO does not support ControlType " + type.name());
+        }
+    }
+
+    @Override
+    public EncoderIO getEncoder(MotorControllerEncoderType type) {
+        switch(type) {
+            case kInternal:
+                return new REVLIBRelativeEncoderIO(name, motor.getEncoder());
+            case kAbsolute:
+                return new REVLIBAbsoluteEncoderIO(name, motor.getAbsoluteEncoder());
+            case kExternal:
+                return new REVLIBRelativeEncoderIO(name, motor.getAlternateEncoder());
+            default:
+                throw new UnsupportedOperationException("SparkMaxIO does not support MotorControllerEncoderType " + type.name());
+        }
+    }
+    
+}

src/main/java/com/team2648/iocore/realio/VictorSPIO.java

@@ -14,7 +14,7 @@ public class VictorSPIO extends MotorControllerIO implements PWMFollowableMotor{
     private VictorSP motor;
 
     public VictorSPIO(String motorName, int pwmPort) {
-        super("/" + motorName, ControlTypes.kDutyCycle);
+        super("/VictorSP/" + motorName, ControlTypes.kDutyCycle);
 
         motor = new VictorSP(pwmPort);
     }