added spark configs to all subsystems, fixed a few formatting inconsistencies, added a TODO

src/main/java/frc/robot/constants/ArmConstants.java

@@ -69,7 +69,7 @@ public class ArmConstants {
 
     static {
         canCoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
-        canCoderConfig.MagnetSensor.MagnetOffset = 0.0;
+        canCoderConfig.MagnetSensor.MagnetOffset = kMagnetOffset;
         // TODO Need to do more reading on this setting, and how to properly offset the Arm so that horizontal is 0
         //canCoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;
 

src/main/java/frc/robot/constants/ClimberPivotConstants.java

@@ -1,5 +1,7 @@
 package frc.robot.constants;
 
+import com.revrobotics.spark.config.SparkMaxConfig;
+
 public class ClimberPivotConstants {
     public static final int kPivotMotorID = 0;
 
@@ -12,4 +14,6 @@ public class ClimberPivotConstants {
     public static final double kPIDControllerD = 0;
 
     public static final double kClimberClimbPosition = 0;
+
+    public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
 }

src/main/java/frc/robot/constants/ClimberRollersConstants.java

@@ -1,5 +1,9 @@
 package frc.robot.constants;
 
+import com.revrobotics.spark.config.SparkMaxConfig;
+
 public class ClimberRollersConstants {
     public static final int kRollerMotorID = 0;
+
+    public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
 }

src/main/java/frc/robot/constants/ManipulatorConstants.java

@@ -1,7 +1,11 @@
 package frc.robot.constants;
 
+import com.revrobotics.spark.config.SparkMaxConfig;
+
 public class ManipulatorConstants {
     public static final int kManipulatorMotorID = 0;
     public static final int kCoralBeamBreakID = 0;
     public static final int kAlgaeBeamBreakID = 0;
+
+    public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
 }

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

@@ -32,7 +32,11 @@ public class Arm extends SubsystemBase {
             MotorType.kBrushless
         );
 
-        armMotor.configure(ArmConstants.motorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
+        armMotor.configure(
+            ArmConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
 
         positionController = new PIDController(
             ArmConstants.kPositionalP, 

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

@@ -2,6 +2,8 @@ package frc.robot.subsystems;
 
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DigitalInput;
@@ -22,6 +24,12 @@ public class ClimberPivot extends SubsystemBase {
             MotorType.kBrushless
         );
 
+        pivotMotor.configure(
+            ClimberPivotConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
         neoEncoder = pivotMotor.getEncoder();
 
         cageLimitSwitch = new DigitalInput(ClimberPivotConstants.kClimberLimitSwitchID);

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

@@ -1,12 +1,15 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ClimberRollersConstants;
 
+//TODO Figure out a way to detect if we're at the top of the cage
 public class ClimberRollers extends SubsystemBase {
     private SparkMax rollerMotor;
 
@@ -15,6 +18,12 @@ public class ClimberRollers extends SubsystemBase {
             ClimberRollersConstants.kRollerMotorID, 
             MotorType.kBrushless
         );
+
+        rollerMotor.configure(
+            ClimberRollersConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
     }
 
     /**

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

@@ -3,6 +3,8 @@ package frc.robot.subsystems;
 import java.util.function.DoubleSupplier;
 
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DigitalInput;
@@ -22,6 +24,12 @@ public class Manipulator extends SubsystemBase {
             MotorType.kBrushless
         );
 
+        manipulatorMotor.configure(
+            ManipulatorConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
         coralBeamBreak = new DigitalInput(ManipulatorConstants.kCoralBeamBreakID);
         algaeBeamBreak = new DigitalInput(ManipulatorConstants.kAlgaeBeamBreakID);
     }