Add API to get the applied current of a motor (#33)

* Add method to get the current of the motor

* remove UnsupportedOperationException

* fix javadoc

* Documented that getAppliedCurrent will be there from 1.3.0 onwards

* bump the version to 2.0.0-alpha.1

* update usages of since 1.3.0 to 2.0.0

Author: cuttestkittensrule

lib/build.gradle

@@ -25,7 +25,7 @@ tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
 
-version = '1.3.0-alpha.1'
+version = '2.0.0-alpha.1'
 
 repositories {
     // Use Maven Central for resolving dependencies.

lib/src/main/java/com/team2813/lib2813/control/Motor.java

@@ -1,5 +1,7 @@
 package com.team2813.lib2813.control;
 
+import edu.wpi.first.units.measure.Current;
+
 public interface Motor {
   // motor control
 
@@ -19,4 +21,12 @@ public interface Motor {
    * @param feedForward The feedForward to apply to the motor
    */
   void set(ControlMode mode, double demand, double feedForward);
+
+  /**
+   * Gets the current that is being applied onto the motor
+   *
+   * @since 2.0.0
+   * @return The current applied current
+   */
+  Current getAppliedCurrent();
 }

lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java

@@ -16,6 +16,7 @@
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -75,6 +76,11 @@ public Angle getPositionMeasure() {
     return Units.Rotations.of(encoder.getPosition());
   }
 
+  @Override
+  public Current getAppliedCurrent() {
+    return Units.Amps.of(motor.getOutputCurrent());
+  }
+
   @Override
   public void setPosition(double position) {
     encoder.setPosition(position);

lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java

@@ -17,6 +17,7 @@
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
@@ -132,6 +133,11 @@ public Angle getPositionMeasure() {
     return Units.Rotations.of(motor.getPosition().getValueAsDouble());
   }
 
+  @Override
+  public Current getAppliedCurrent() {
+    return motor.getStatorCurrent().getValue();
+  }
+
   @Override
   public void setPosition(double position) {
     motor.setPosition(position);

lib/src/main/java/com/team2813/lib2813/preferences/PersistedConfiguration.java

@@ -92,7 +92,7 @@
  * constructor; see <a href="https://www.baeldung.com/java-records-custom-constructor">Custom
  * Constructor in Java Records</a> for details.
  *
- * @since 1.3.0
+ * @since 2.0.0
  */
 public final class PersistedConfiguration {
   // The below package-scope fields are for the self-tests.

lib/src/main/java/com/team2813/lib2813/preferences/PreferencesInjector.java

@@ -38,7 +38,7 @@
  *
  * @deprecated Use {@link PersistedConfiguration}
  */
-@Deprecated(since = "1.3.0", forRemoval = true)
+@Deprecated(since = "2.0.0", forRemoval = true)
 public class PreferencesInjector {
   private static final char PATH_SEPARATOR = '.';