More work bringing 2026 into 2027, ignoring errors for pos/vel conversion factor for now

src/main/java/first/robot/utilities/SparkMAXTester.java

@@ -0,0 +1,38 @@
+package first.robot.utilities;
+
+import java.util.function.DoubleSupplier;
+
+import org.wpilib.command2.Command;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.hardware.bus.CANPort;
+
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+/**
+ * A simple subsystem that can be used to test a single SparkMax and associated NEO motor
+ */
+public class SparkMAXTester extends SubsystemBase {
+    private SparkMax spark;
+
+    /**
+     * Constructor
+     * 
+     * @param deviceID The CAN ID of the SparkMAX that needs testing
+     */
+    public SparkMAXTester(CANPort canPort, int deviceID) {
+        spark = new SparkMax(canPort, deviceID, MotorType.kBrushless);
+    }
+
+    /**
+     * Sets the speed of the motor
+     * 
+     * @param speed A method or lambda which returns a double between -1 and 1
+     * @return A Command object that runs indefinitely to control motor speed
+     */
+    public Command setSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            spark.setThrottle(speed.getAsDouble());
+        });
+    }
+}