From ae4a53dcea34d6144beed2625688e7e8842053f7 Mon Sep 17 00:00:00 2001
From: Bradley Bickford <bradleybickford@gmail.com>
Date: Wed, 11 Mar 2026 15:04:08 -0400
Subject: [PATCH] Adding the beginning of CommonPIDFConfig

---
 .../commons/CommonMotorControllerConfig.java  |  55 +++++++-
 .../iocore/commons/CommonPIDFConfig.java      | 123 ++++++++++++++++++
 .../team2648/iocore/enums/MotorIdleMode.java  |   6 +
 3 files changed, 182 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/com/team2648/iocore/commons/CommonPIDFConfig.java
 create mode 100644 src/main/java/com/team2648/iocore/enums/MotorIdleMode.java

diff --git a/src/main/java/com/team2648/iocore/commons/CommonMotorControllerConfig.java b/src/main/java/com/team2648/iocore/commons/CommonMotorControllerConfig.java
index baee5a2..c04499f 100644
--- a/src/main/java/com/team2648/iocore/commons/CommonMotorControllerConfig.java
+++ b/src/main/java/com/team2648/iocore/commons/CommonMotorControllerConfig.java
@@ -1,28 +1,79 @@
 package com.team2648.iocore.commons;
 
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.team2648.iocore.enums.MotorIdleMode;
 
 public class CommonMotorControllerConfig {
     private boolean isInverted;
 
-    public CommonMotorControllerConfig() {
+    private int supplyCurrentLimit;
+    private int followCANID;
 
+    private MotorIdleMode mode;
+
+
+    public CommonMotorControllerConfig() {
+        isInverted = false;
+        supplyCurrentLimit = -1;
+        followCANID = -1;
+        mode = MotorIdleMode.kCoast;
     }
 
     public boolean isInverted() {
         return isInverted;
     }
 
+    public int getSupplyCurrentLimit() {
+        return supplyCurrentLimit;
+    }
+
+    public int getFollowCANID() {
+        return followCANID;
+    }
+
+    public MotorIdleMode getIdleMode() {
+        return mode;
+    }
+
     public CommonMotorControllerConfig setInverted(boolean inverted) {
         this.isInverted = inverted;
 
         return this;
     }
 
+    public CommonMotorControllerConfig setSupplyCurrentLimit(int supplyCurrentLimit) {
+        this.supplyCurrentLimit = supplyCurrentLimit;
+
+        return this;
+    }
+
+    public CommonMotorControllerConfig setFollowCANID(int followCANID) {
+        this.followCANID = followCANID;
+
+        return this;
+    }
+
+    public CommonMotorControllerConfig setIdleMode(MotorIdleMode mode) {
+        this.mode = mode;
+        
+        return this;
+    }
+
     public SparkMaxConfig getAsSparkMaxConfig() {
         // TODO More config
         SparkMaxConfig config = new SparkMaxConfig();
-        config.inverted(isInverted);
+        config.inverted(isInverted)
+            .idleMode(mode == MotorIdleMode.kCoast ? IdleMode.kCoast : IdleMode.kBrake);
+        
+        if(supplyCurrentLimit > 0) {
+            config.smartCurrentLimit(supplyCurrentLimit);
+        }
+
+        if(followCANID >= 0) {
+            config.follow(followCANID);
+        }
+        
         return config;
     }
 }
diff --git a/src/main/java/com/team2648/iocore/commons/CommonPIDFConfig.java b/src/main/java/com/team2648/iocore/commons/CommonPIDFConfig.java
new file mode 100644
index 0000000..045ec61
--- /dev/null
+++ b/src/main/java/com/team2648/iocore/commons/CommonPIDFConfig.java
@@ -0,0 +1,123 @@
+package com.team2648.iocore.commons;
+
+public class CommonPIDFConfig {
+    private double p;
+    private double i;
+    private double d;
+    private double s;
+    private double v;
+    private double a;
+    private double cos;
+
+    public CommonPIDFConfig() {
+        this(0, 0, 0);
+    }
+
+    public CommonPIDFConfig(double p, double i, double d) {
+        this(p, i, d, 0);
+    }
+
+    public CommonPIDFConfig(double p, double i, double d, double v) {
+        this(p, i, d, 0, v, 0);
+    }
+
+    public CommonPIDFConfig(double p, double i, double d, double s, double v, double a) {
+        this(p, i, d, s, v, a, 0);
+    }
+
+    public CommonPIDFConfig(double p, double i, double d, double s, double v, double a, double cos) {
+        this.p = p;
+        this.i = i;
+        this.d = d;
+        this.s = s;
+        this.v = v;
+        this.a = a;
+        this.cos = cos;
+    }
+
+    public double getP() {
+        return p;
+    }
+
+    public double getI() {
+        return i;
+    }
+
+    public double getD() {
+        return d;
+    }
+
+    public double getS() {
+        return s;
+    }
+
+    public double getV() {
+        return v;
+    }
+
+    public double getA() {
+        return a;
+    }
+
+    public double getCos() {
+        return cos;
+    }
+
+    public CommonPIDFConfig setP(double p) {
+        this.p = p;
+
+        return this;
+    }
+
+    public CommonPIDFConfig setI(double i) {
+        this.i = i;
+
+        return this;
+    }
+
+    public CommonPIDFConfig setD(double d) {
+        this.d = d;
+
+        return this;
+    }
+
+    public CommonPIDFConfig setS(double s) {
+        this.s = s;
+
+        return this;
+    }
+
+    public CommonPIDFConfig setV(double v) {
+        this.v = v;
+
+        return this;
+    }
+
+    public CommonPIDFConfig setA(double a) {
+        this.a = a;
+
+        return this;
+    }
+
+    public CommonPIDFConfig setCos(double cos) {
+        this.cos = cos;
+
+        return this;
+    }
+
+    public CommonPIDFConfig setPID(double p, double i, double d) {
+        this.p = p;
+        this.i = i;
+        this.d = d;
+
+        return this;
+    }
+
+    public CommonPIDFConfig setSVA(double s, double v, double a) {
+        this.s = s;
+        this.v = v;
+        this.a = a;
+
+        return this;
+    }
+}
diff --git a/src/main/java/com/team2648/iocore/enums/MotorIdleMode.java b/src/main/java/com/team2648/iocore/enums/MotorIdleMode.java
new file mode 100644
index 0000000..1c20f55
--- /dev/null
+++ b/src/main/java/com/team2648/iocore/enums/MotorIdleMode.java
@@ -0,0 +1,6 @@
+package com.team2648.iocore.enums;
+
+public enum MotorIdleMode {
+    kCoast,
+    kBrake;
+}