refactor: Use functions for modifying builders.

Gongoliers · May 4, 2024 · 78c543c · 78c543c
1 parent d722003
commit 78c543c
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Showing 6 changed files with 65 additions and 96 deletions.
diff --git a/src/main/java/frc/lib/config/MechanismConfig.java b/src/main/java/frc/lib/config/MechanismConfig.java
@@ -6,6 +6,7 @@
 import frc.lib.config.MotionProfileConfig.MotionProfileConfigBuilder;
 import frc.lib.config.MotorConfig.MotorConfigBuilder;
 import java.util.Objects;
+import java.util.function.Function;
 
 /** Mechanism config. */
 public record MechanismConfig(
@@ -68,31 +69,32 @@ private MechanismConfigBuilder(
     }
 
     public MechanismConfigBuilder absoluteEncoderConfig(
-        AbsoluteEncoderConfigBuilder absoluteEncoderConfigBuilder) {
-      this.absoluteEncoderConfigBuilder = absoluteEncoderConfigBuilder;
+        Function<AbsoluteEncoderConfigBuilder, AbsoluteEncoderConfigBuilder> modifier) {
+      this.absoluteEncoderConfigBuilder = modifier.apply(absoluteEncoderConfigBuilder);
       return this;
     }
 
     public MechanismConfigBuilder feedbackControllerConfig(
-        FeedbackControllerConfigBuilder feedbackControllerConfigBuilder) {
-      this.feedbackControllerConfigBuilder = feedbackControllerConfigBuilder;
+        Function<FeedbackControllerConfigBuilder, FeedbackControllerConfigBuilder> modifier) {
+      this.feedbackControllerConfigBuilder = modifier.apply(feedbackControllerConfigBuilder);
       return this;
     }
 
     public MechanismConfigBuilder feedforwardControllerConfig(
-        FeedforwardControllerConfigBuilder feedforwardControllerConfigBuilder) {
-      this.feedforwardControllerConfigBuilder = feedforwardControllerConfigBuilder;
+        Function<FeedforwardControllerConfigBuilder, FeedforwardControllerConfigBuilder> modifier) {
+      this.feedforwardControllerConfigBuilder = modifier.apply(feedforwardControllerConfigBuilder);
       return this;
     }
 
     public MechanismConfigBuilder motionProfileConfig(
-        MotionProfileConfigBuilder motionProfileConfigBuilder) {
-      this.motionProfileConfigBuilder = motionProfileConfigBuilder;
+        Function<MotionProfileConfigBuilder, MotionProfileConfigBuilder> modifier) {
+      this.motionProfileConfigBuilder = modifier.apply(motionProfileConfigBuilder);
       return this;
     }
 
-    public MechanismConfigBuilder motorConfig(MotorConfigBuilder motorConfigBuilder) {
-      this.motorConfigBuilder = motorConfigBuilder;
+    public MechanismConfigBuilder motorConfig(
+        Function<MotorConfigBuilder, MotorConfigBuilder> modifier) {
+      this.motorConfigBuilder = modifier.apply(motorConfigBuilder);
       return this;
     }
 

diff --git a/src/main/java/frc/robot/arm/Arm.java b/src/main/java/frc/robot/arm/Arm.java
@@ -7,13 +7,8 @@
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
-import frc.lib.config.AbsoluteEncoderConfig.AbsoluteEncoderConfigBuilder;
-import frc.lib.config.FeedbackControllerConfig.FeedbackControllerConfigBuilder;
-import frc.lib.config.FeedforwardControllerConfig.FeedforwardControllerConfigBuilder;
 import frc.lib.config.MechanismConfig;
 import frc.lib.config.MechanismConfig.MechanismConfigBuilder;
-import frc.lib.config.MotionProfileConfig.MotionProfileConfigBuilder;
-import frc.lib.config.MotorConfig.MotorConfigBuilder;
 import frc.lib.controller.PositionControllerIO;
 import frc.lib.controller.PositionControllerIO.PositionControllerIOValues;
 
@@ -27,21 +22,18 @@ public class Arm extends Subsystem {
   private final MechanismConfig shoulderConfig =
       MechanismConfigBuilder.defaults()
           .absoluteEncoderConfig(
-              AbsoluteEncoderConfigBuilder.defaults()
-                  .ccwPositive(false)
-                  .offset(Rotation2d.fromDegrees(-173.135)))
+              absoluteEncoder ->
+                  absoluteEncoder.ccwPositive(false).offset(Rotation2d.fromDegrees(-173.135)))
           .motorConfig(
-              MotorConfigBuilder.defaults()
-                  .ccwPositive(true)
-                  .neutralBrake(true)
-                  .motorToMechanismRatio(39.771428571))
+              motor ->
+                  motor.ccwPositive(true).neutralBrake(true).motorToMechanismRatio(39.771428571))
           .motionProfileConfig(
-              MotionProfileConfigBuilder.defaults()
-                  .maximumVelocity(Units.degreesToRotations(240.0))
-                  .maximumAcceleration(Units.degreesToRotations(240.0)))
-          .feedforwardControllerConfig(
-              FeedforwardControllerConfigBuilder.defaults().kS(0.14).kG(0.5125).kV(4.0))
-          .feedbackControllerConfig(FeedbackControllerConfigBuilder.defaults().kP(4.0))
+              motionProfile ->
+                  motionProfile
+                      .maximumVelocity(Units.degreesToRotations(240.0))
+                      .maximumAcceleration(Units.degreesToRotations(240.0)))
+          .feedforwardControllerConfig(feedforward -> feedforward.kS(0.14).kG(0.5125).kV(4.0))
+          .feedbackControllerConfig(feedback -> feedback.kP(4.0))
           .build();
 
   /** Shoulder controller. */

diff --git a/src/main/java/frc/robot/intake/Intake.java b/src/main/java/frc/robot/intake/Intake.java
@@ -3,12 +3,8 @@
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.lib.Subsystem;
-import frc.lib.config.FeedbackControllerConfig.FeedbackControllerConfigBuilder;
-import frc.lib.config.FeedforwardControllerConfig.FeedforwardControllerConfigBuilder;
 import frc.lib.config.MechanismConfig;
 import frc.lib.config.MechanismConfig.MechanismConfigBuilder;
-import frc.lib.config.MotionProfileConfig.MotionProfileConfigBuilder;
-import frc.lib.config.MotorConfig.MotorConfigBuilder;
 import frc.lib.controller.VelocityControllerIO;
 import frc.lib.controller.VelocityControllerIO.VelocityControllerIOValues;
 
@@ -22,28 +18,22 @@ public class Intake extends Subsystem {
   private final MechanismConfig frontRollerConfig =
       MechanismConfigBuilder.defaults()
           .motorConfig(
-              MotorConfigBuilder.defaults()
-                  .ccwPositive(false)
-                  .neutralBrake(false)
-                  .motorToMechanismRatio(24.0 / 16.0))
-          .motionProfileConfig(MotionProfileConfigBuilder.defaults().maximumVelocity(66))
-          .feedforwardControllerConfig(
-              FeedforwardControllerConfigBuilder.defaults().kS(0.13).kV(0.1683))
-          .feedbackControllerConfig(FeedbackControllerConfigBuilder.defaults().kP(0.1))
+              motor ->
+                  motor.ccwPositive(false).neutralBrake(false).motorToMechanismRatio(24.0 / 16.0))
+          .motionProfileConfig(motionProfile -> motionProfile.maximumVelocity(66))
+          .feedforwardControllerConfig(feedforward -> feedforward.kS(0.13).kV(0.1683))
+          .feedbackControllerConfig(feedback -> feedback.kP(0.1))
           .build();
 
   /** Back roller controller config. */
   private final MechanismConfig backRollerConfig =
       MechanismConfigBuilder.defaults()
           .motorConfig(
-              MotorConfigBuilder.defaults()
-                  .ccwPositive(false)
-                  .neutralBrake(false)
-                  .motorToMechanismRatio(24.0 / 16.0))
-          .motionProfileConfig(MotionProfileConfigBuilder.defaults().maximumVelocity(66))
-          .feedforwardControllerConfig(
-              FeedforwardControllerConfigBuilder.defaults().kS(0.13).kV(0.1759))
-          .feedbackControllerConfig(FeedbackControllerConfigBuilder.defaults().kP(0.1))
+              motor ->
+                  motor.ccwPositive(false).neutralBrake(false).motorToMechanismRatio(24.0 / 16.0))
+          .motionProfileConfig(motionProfile -> motionProfile.maximumVelocity(66))
+          .feedforwardControllerConfig(feedforward -> feedforward.kS(0.13).kV(0.1759))
+          .feedbackControllerConfig(feedback -> feedback.kP(0.1))
           .build();
 
   /** Rollers. */

diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java
@@ -4,12 +4,8 @@
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.lib.Subsystem;
-import frc.lib.config.FeedbackControllerConfig.FeedbackControllerConfigBuilder;
-import frc.lib.config.FeedforwardControllerConfig.FeedforwardControllerConfigBuilder;
 import frc.lib.config.MechanismConfig;
 import frc.lib.config.MechanismConfig.MechanismConfigBuilder;
-import frc.lib.config.MotionProfileConfig.MotionProfileConfigBuilder;
-import frc.lib.config.MotorConfig.MotorConfigBuilder;
 import frc.lib.controller.VelocityControllerIO;
 import frc.lib.controller.VelocityControllerIO.VelocityControllerIOValues;
 
@@ -23,15 +19,12 @@ public class Shooter extends Subsystem {
   private final MechanismConfig flywheelConfig =
       MechanismConfigBuilder.defaults()
           .motorConfig(
-              MotorConfigBuilder.defaults()
-                  .ccwPositive(false)
-                  .neutralBrake(true)
-                  .motorToMechanismRatio(28.0 / 16.0))
+              motor ->
+                  motor.ccwPositive(false).neutralBrake(true).motorToMechanismRatio(28.0 / 16.0))
           .motionProfileConfig(
-              MotionProfileConfigBuilder.defaults().maximumVelocity(60).maximumAcceleration(200))
-          .feedforwardControllerConfig(
-              FeedforwardControllerConfigBuilder.defaults().kS(0.14).kV(0.2))
-          .feedbackControllerConfig(FeedbackControllerConfigBuilder.defaults().kP(0.14))
+              motionProfile -> motionProfile.maximumVelocity(60).maximumAcceleration(200))
+          .feedforwardControllerConfig(feedforward -> feedforward.kS(0.14).kV(0.2))
+          .feedbackControllerConfig(feedback -> feedback.kP(0.14))
           .build();
 
   /** Flywheel controller. */
@@ -47,14 +40,15 @@ public class Shooter extends Subsystem {
   private final MechanismConfig serializerConfig =
       MechanismConfigBuilder.defaults()
           .motorConfig(
-              MotorConfigBuilder.defaults()
-                  .ccwPositive(true)
-                  .neutralBrake(false)
-                  .motorToMechanismRatio(36.0 / 16.0))
+              motorConfig ->
+                  motorConfig
+                      .ccwPositive(true)
+                      .neutralBrake(false)
+                      .motorToMechanismRatio(36.0 / 16.0))
           .motionProfileConfig(
-              MotionProfileConfigBuilder.defaults().maximumVelocity(45).maximumAcceleration(450))
-          .feedforwardControllerConfig(
-              FeedforwardControllerConfigBuilder.defaults().kS(0.14).kV(0.2617))
+              motionProfileConfig ->
+                  motionProfileConfig.maximumVelocity(45).maximumAcceleration(450))
+          .feedforwardControllerConfig(feedforwardConfig -> feedforwardConfig.kS(0.14).kV(0.2617))
           .build();
 
   /** Serializer controller. */

diff --git a/src/main/java/frc/robot/swerve/Swerve.java b/src/main/java/frc/robot/swerve/Swerve.java
@@ -14,13 +14,10 @@
 import frc.lib.DriveRequest;
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
-import frc.lib.config.FeedbackControllerConfig.FeedbackControllerConfigBuilder;
-import frc.lib.config.FeedforwardControllerConfig.FeedforwardControllerConfigBuilder;
 import frc.lib.config.MechanismConfig;
 import frc.lib.config.MechanismConfig.MechanismConfigBuilder;
 import frc.lib.config.MotionProfileConfig;
 import frc.lib.config.MotionProfileConfig.MotionProfileConfigBuilder;
-import frc.lib.config.MotorConfig.MotorConfigBuilder;
 import frc.lib.controller.SwerveModuleIO;
 import frc.robot.RobotConstants;
 import frc.robot.odometry.Odometry;
@@ -42,30 +39,25 @@ public class Swerve extends Subsystem {
   private final MechanismConfig steerConfig =
       MechanismConfigBuilder.defaults()
           .motorConfig(
-              MotorConfigBuilder.defaults()
-                  .ccwPositive(false)
-                  .currentLimitAmps(20)
-                  .motorToMechanismRatio(150.0 / 7.0))
-          .feedforwardControllerConfig(FeedforwardControllerConfigBuilder.defaults().kS(0.205))
+              motor ->
+                  motor.ccwPositive(false).currentLimitAmps(20).motorToMechanismRatio(150.0 / 7.0))
+          .feedforwardControllerConfig(feedforward -> feedforward.kS(0.205))
           .feedbackControllerConfig(
-              FeedbackControllerConfigBuilder.defaults()
-                  .continuous(true)
-                  .kP(54.0)
-                  .kD(0.16)
-                  .positionTolerance(Units.degreesToRotations(1.0)))
+              feedback ->
+                  feedback
+                      .continuous(true)
+                      .kP(54.0)
+                      .kD(0.16)
+                      .positionTolerance(Units.degreesToRotations(1.0)))
           .build();
 
   /** Drive motor config. */
   private final MechanismConfig driveConfig =
       MechanismConfigBuilder.defaults()
           .motorConfig(
-              MotorConfigBuilder.defaults()
-                  .ccwPositive(false)
-                  .currentLimitAmps(40.0)
-                  .motorToMechanismRatio(6.75))
-          .feedforwardControllerConfig(
-              FeedforwardControllerConfigBuilder.defaults().kS(0.14).kV(0.725))
-          .feedbackControllerConfig(FeedbackControllerConfigBuilder.defaults().kP(0.75))
+              motor -> motor.ccwPositive(false).currentLimitAmps(40.0).motorToMechanismRatio(6.75))
+          .feedforwardControllerConfig(feedforward -> feedforward.kS(0.14).kV(0.725))
+          .feedbackControllerConfig(feedback -> feedback.kP(0.75))
           .build();
 
   /** Wheel circumference. */

diff --git a/src/main/java/frc/robot/swerve/SwerveFactory.java b/src/main/java/frc/robot/swerve/SwerveFactory.java
@@ -4,7 +4,6 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
 import frc.lib.CAN;
-import frc.lib.config.AbsoluteEncoderConfig.AbsoluteEncoderConfigBuilder;
 import frc.lib.config.MechanismConfig;
 import frc.lib.config.MechanismConfig.MechanismConfigBuilder;
 import frc.lib.controller.PositionControllerIO;
@@ -53,8 +52,8 @@ public static SwerveModuleIO createNorthWestModule(
         new CAN(24, "swerve"),
         MechanismConfigBuilder.from(steerConfig)
             .absoluteEncoderConfig(
-                AbsoluteEncoderConfigBuilder.defaults()
-                    .offset(Rotation2d.fromRotations(-0.084716).unaryMinus()))
+                absoluteEncoderConfig ->
+                    absoluteEncoderConfig.offset(Rotation2d.fromRotations(-0.084716).unaryMinus()))
             .build(),
         driveConfig,
         wheelCircumference);
@@ -82,8 +81,8 @@ public static SwerveModuleIO createNorthEastModule(
         new CAN(30, "swerve"),
         MechanismConfigBuilder.from(steerConfig)
             .absoluteEncoderConfig(
-                AbsoluteEncoderConfigBuilder.defaults()
-                    .offset(Rotation2d.fromRotations(0.196777).unaryMinus()))
+                absoluteEncoderConfig ->
+                    absoluteEncoderConfig.offset(Rotation2d.fromRotations(0.196777).unaryMinus()))
             .build(),
         driveConfig,
         wheelCircumference);
@@ -111,8 +110,8 @@ public static SwerveModuleIO createSouthEastModule(
         new CAN(26, "swerve"),
         MechanismConfigBuilder.from(steerConfig)
             .absoluteEncoderConfig(
-                AbsoluteEncoderConfigBuilder.defaults()
-                    .offset(Rotation2d.fromRotations(0.276611).unaryMinus()))
+                absoluteEncoderConfig ->
+                    absoluteEncoderConfig.offset(Rotation2d.fromRotations(0.276611).unaryMinus()))
             .build(),
         driveConfig,
         wheelCircumference);
@@ -140,8 +139,8 @@ public static SwerveModuleIO createSouthWestModule(
         new CAN(28, "swerve"),
         MechanismConfigBuilder.from(steerConfig)
             .absoluteEncoderConfig(
-                AbsoluteEncoderConfigBuilder.defaults()
-                    .offset(Rotation2d.fromRotations(0.223145).unaryMinus()))
+                absoluteEncoderConfig ->
+                    absoluteEncoderConfig.offset(Rotation2d.fromRotations(0.223145).unaryMinus()))
             .build(),
         driveConfig,
         wheelCircumference);