refactor: Use lambdas for configuration.

src/main/java/frc/lib/ConfigApplier.java → src/main/java/frc/lib/Configurator.java

@@ -7,26 +7,40 @@
 import com.ctre.phoenix6.configs.Pigeon2Configurator;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfigurator;
+import com.revrobotics.REVLibError;
+import java.util.function.Supplier;
 
 /** Applies hardware configurations. */
-public class ConfigApplier {
+public class Configurator {
 
   /** Number of retries for configuring Phoenix hardware. */
   private static final int PHOENIX_RETRY_COUNT = 10;
 
+  /** Number of retries for configuring REV hardware. */
+  private static final int REV_RETRY_COUNT = 10;
+
+  /**
+   * Configures a Phoenix device.
+   *
+   * @param config a lambda that configures a Phoenix device.
+   */
+  public static void configurePhoenix(Supplier<StatusCode> config) {
+    for (int i = 0; i < PHOENIX_RETRY_COUNT; i++) {
+      if (config.get() == StatusCode.OK) {
+        return;
+      }
+    }
+  }
+
   /**
    * Configures a CANcoder.
    *
    * @param configurator the CANcoder's configurator.
    * @param config the config to apply.
    */
-  public static void applyCANcoderConfig(
+  public static void configureCANcoder(
       CANcoderConfigurator configurator, CANcoderConfiguration config) {
-    for (int i = 0; i < PHOENIX_RETRY_COUNT; i++) {
-      if (configurator.apply(config) == StatusCode.OK) {
-        break;
-      }
-    }
+    configurePhoenix(() -> configurator.apply(config));
   }
 
   /**
@@ -35,13 +49,9 @@ public static void applyCANcoderConfig(
    * @param configurator the TalonFX's configurator.
    * @param config the config to apply.
    */
-  public static void applyTalonFXConfig(
+  public static void configureTalonFX(
       TalonFXConfigurator configurator, TalonFXConfiguration config) {
-    for (int i = 0; i < PHOENIX_RETRY_COUNT; i++) {
-      if (configurator.apply(config) == StatusCode.OK) {
-        break;
-      }
-    }
+    configurePhoenix(() -> configurator.apply(config));
   }
 
   /**
@@ -50,11 +60,20 @@ public static void applyTalonFXConfig(
    * @param configurator the Pigeon 2's configurator.
    * @param config the config to apply.
    */
-  public static void applyPigeon2Config(
+  public static void configurePigeon2(
       Pigeon2Configurator configurator, Pigeon2Configuration config) {
-    for (int i = 0; i < PHOENIX_RETRY_COUNT; i++) {
-      if (configurator.apply(config) == StatusCode.OK) {
-        break;
+    configurePhoenix(() -> configurator.apply(config));
+  }
+
+  /**
+   * Configures a REV device.
+   *
+   * @param config a lambda that configures a REV device.
+   */
+  public static void configureREV(Supplier<REVLibError> config) {
+    for (int i = 0; i < REV_RETRY_COUNT; i++) {
+      if (config.get() == REVLibError.kOk) {
+        return;
       }
     }
   }

src/main/java/frc/robot/intake/IntakeMotorIOSparkMax.java

@@ -2,6 +2,7 @@
 
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkMax;
+import frc.lib.Configurator;
 import frc.robot.intake.IntakeConstants.IntakeMotorConstants;
 
 /** Intake motor using a Spark Max. */
@@ -16,11 +17,13 @@ public IntakeMotorIOSparkMax() {
 
   @Override
   public void configure() {
-    sparkMax.restoreFactoryDefaults();
+    Configurator.configureREV(sparkMax::restoreFactoryDefaults);
 
     sparkMax.setInverted(IntakeMotorConstants.IS_INVERTED);
 
-    sparkMax.setSmartCurrentLimit((int) IntakeMotorConstants.CURRENT_LIMITS.breakerAmps());
+    Configurator.configureREV(
+        () ->
+            sparkMax.setSmartCurrentLimit((int) IntakeMotorConstants.CURRENT_LIMITS.breakerAmps()));
   }
 
   @Override

src/main/java/frc/robot/odometry/GyroscopeIOPigeon2.java

@@ -5,7 +5,7 @@
 import com.ctre.phoenix6.hardware.Pigeon2;
 import edu.wpi.first.math.util.Units;
 import frc.lib.CAN;
-import frc.lib.ConfigApplier;
+import frc.lib.Configurator;
 
 /** Pigeon 2 gyroscope. */
 public class GyroscopeIOPigeon2 implements GyroscopeIO {
@@ -33,7 +33,7 @@ public GyroscopeIOPigeon2(CAN gyroscopeCAN) {
   public void configure() {
     Pigeon2Configuration config = OdometryFactory.createGyroscopeConfig();
 
-    ConfigApplier.applyPigeon2Config(pigeon2.getConfigurator(), config);
+    Configurator.configurePigeon2(pigeon2.getConfigurator(), config);
   }
 
   @Override

src/main/java/frc/robot/swerve/AzimuthEncoderIOCANcoder.java

@@ -5,7 +5,7 @@
 import com.ctre.phoenix6.hardware.CANcoder;
 import edu.wpi.first.math.geometry.Rotation2d;
 import frc.lib.CAN;
-import frc.lib.ConfigApplier;
+import frc.lib.Configurator;
 
 /** CANcoder azimuth encoder. */
 public class AzimuthEncoderIOCANcoder implements AzimuthEncoderIO {
@@ -39,7 +39,7 @@ public void configure() {
 
     config.MagnetSensor.MagnetOffset = magnetOffset.getRotations();
 
-    ConfigApplier.applyCANcoderConfig(cancoder.getConfigurator(), config);
+    Configurator.configureCANcoder(cancoder.getConfigurator(), config);
   }
 
   @Override

src/main/java/frc/robot/swerve/DriveMotorIOTalonFXPID.java

@@ -6,7 +6,7 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import frc.lib.CAN;
-import frc.lib.ConfigApplier;
+import frc.lib.Configurator;
 import frc.robot.RobotConstants;
 import frc.robot.swerve.SwerveConstants.DriveMotorConstants;
 import frc.robot.swerve.SwerveConstants.MK4iConstants;
@@ -35,7 +35,7 @@ public DriveMotorIOTalonFXPID(CAN can) {
   public void configure() {
     TalonFXConfiguration config = SwerveFactory.createDriveMotorConfig();
 
-    ConfigApplier.applyTalonFXConfig(talonFX.getConfigurator(), config);
+    Configurator.configureTalonFX(talonFX.getConfigurator(), config);
   }
 
   @Override

src/main/java/frc/robot/swerve/SteerMotorIOTalonFXIntegrated.java

@@ -3,7 +3,7 @@
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.MotionMagicVoltage;
 import frc.lib.CAN;
-import frc.lib.ConfigApplier;
+import frc.lib.Configurator;
 import frc.robot.swerve.SwerveConstants.MK4iConstants;
 
 /** TalonFX steer motor controlled by an internal controller. */
@@ -28,7 +28,7 @@ public void configure() {
     config.MotionMagic.MotionMagicCruiseVelocity = 100.0 / MK4iConstants.STEER_GEARING;
     config.MotionMagic.MotionMagicAcceleration = config.MotionMagic.MotionMagicCruiseVelocity * 10;
 
-    ConfigApplier.applyTalonFXConfig(talonFX.getConfigurator(), config);
+    Configurator.configureTalonFX(talonFX.getConfigurator(), config);
   }
 
   @Override

src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java

@@ -5,7 +5,7 @@
 import com.ctre.phoenix6.controls.VoltageOut;
 import edu.wpi.first.math.geometry.Rotation2d;
 import frc.lib.CAN;
-import frc.lib.ConfigApplier;
+import frc.lib.Configurator;
 import frc.robot.swerve.SwerveConstants.MK4iConstants;
 
 /** TalonFX steer motor controlled by an external PIDF controller. */
@@ -33,7 +33,7 @@ public void configure() {
 
     config.Feedback.SensorToMechanismRatio = MK4iConstants.STEER_GEARING;
 
-    ConfigApplier.applyTalonFXConfig(talonFX.getConfigurator(), config);
+    Configurator.configureTalonFX(talonFX.getConfigurator(), config);
   }
 
   @Override