Add vendor-rev project

Author: kcooney

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

@@ -15,14 +15,13 @@
 */
 package com.team2813.lib2813.control;
 
-import static java.util.stream.Collectors.toUnmodifiableMap;
-
-import java.util.*;
-import java.util.stream.Stream;
+import java.util.Collections;
+import java.util.EnumSet;
+import java.util.Set;
 
 public enum InvertType {
-  CLOCKWISE(true),
-  COUNTER_CLOCKWISE(false),
+  CLOCKWISE,
+  COUNTER_CLOCKWISE,
   FOLLOW_MASTER,
   OPPOSE_MASTER;
 
@@ -32,44 +31,4 @@ public enum InvertType {
    */
   public static final Set<InvertType> rotationValues =
       Collections.unmodifiableSet(EnumSet.of(CLOCKWISE, COUNTER_CLOCKWISE));
-
-  private final Optional<Boolean> sparkMaxInvert;
-
-  InvertType() {
-    sparkMaxInvert = Optional.empty();
-  }
-
-  InvertType(boolean sparkMaxInvert) {
-    this.sparkMaxInvert = Optional.of(sparkMaxInvert);
-  }
-
-  /**
-   * Gets an {@link InvertType} from a spark max invert
-   *
-   * @param v the value to search for
-   * @return {@link Optional#empty()} if no {@link InvertType} is found, otherwise, an optional
-   *     describing the {@link InvertType}
-   */
-  public static Optional<InvertType> fromSparkMaxInvert(boolean v) {
-    return Optional.of(Maps.sparkMaxMap.get(v));
-  }
-
-  public Optional<Boolean> sparkMaxInvert() {
-    return sparkMaxInvert;
-  }
-
-  private boolean forceSparkMaxInvert() {
-    return sparkMaxInvert.orElseThrow();
-  }
-
-  /**
-   * Contains the maps for {@link InvertType#fromSparkMaxInvert(boolean)}. In a static class so that
-   * they will only be initialized if they are needed.
-   */
-  private static final class Maps {
-    private static final Map<Boolean, InvertType> sparkMaxMap =
-        Stream.of(InvertType.values())
-            .filter((j) -> j.sparkMaxInvert.isPresent())
-            .collect(toUnmodifiableMap(InvertType::forceSparkMaxInvert, (j) -> j, (a, b) -> null));
-  }
 }

lib/src/test/java/com/team2813/lib2813/control/InvertTypeTest.java

@@ -9,4 +9,4 @@
 
 rootProject.name = 'lib2813'
 include 'lib',  'limelight', 'vision', 'testing'
-include 'vendor:ctre'
+include 'vendor:ctre', 'vendor:rev'

settings.gradle

@@ -0,0 +1,45 @@
+plugins {
+    id 'java-common-conventions'
+    id 'publishing-conventions'
+    id 'edu.wpi.first.GradleRIO' version '2026.1.1'
+}
+
+dependencies {
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
+    implementation project(':lib')
+
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
+
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
+
+    testImplementation(platform('org.junit:junit-bom:5.13.1'))
+    testImplementation('org.junit.jupiter:junit-jupiter')
+    testImplementation('com.google.truth:truth:1.4.4')
+    testRuntimeOnly('org.junit.platform:junit-platform-launcher')
+}
+
+// the magic line that makes tests work :)
+wpi.java.configureTestTasks(test)
+
+tasks.named('test') {
+    useJUnitPlatform()
+}
+
+mavenPublishing {
+    pom {
+        name = '2813 REV Robotics Vendor Library'
+        description = 'REV Robotics extensions to team2813:lib'
+        developers {
+            developer {
+                id = 'cuttestkittensrule'
+                name = 'Kyle'
+                email = 'mangoiscute95@gmail.com'
+            }
+        }
+    }
+}

vendor/rev/build.gradle

@@ -0,0 +1,47 @@
+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.vendor.rev;
+
+import com.team2813.lib2813.control.InvertType;
+import java.util.Objects;
+import java.util.Optional;
+
+/** Utility methods for working with {@link InvertType} for REV Robotics motors. */
+public class InvertTypes {
+
+  /**
+   * Gets the SPARK MAX invert value for the given {@link InvertType}
+   *
+   * @return The invert, or {@link Optional#empty()} if the provided {@code invertType} is not a
+   *     rotational value.
+   */
+  public static Optional<Boolean> toSparkMaxInvert(InvertType invertType) {
+    return switch (Objects.requireNonNull(invertType, "invertType should not be null")) {
+      case CLOCKWISE -> Optional.of(Boolean.TRUE);
+      case COUNTER_CLOCKWISE -> Optional.of(Boolean.FALSE);
+      default -> Optional.empty();
+    };
+  }
+
+  /** Gets the {@link InvertType} for the given SPARK MAX invert value. */
+  public static InvertType toInvertType(boolean sparkMaxInvert) {
+    return sparkMaxInvert ? InvertType.CLOCKWISE : InvertType.COUNTER_CLOCKWISE;
+  }
+
+  private InvertTypes() {
+    throw new AssertionError("Not instantiable");
+  }
+}

vendor/rev/src/main/java/com/team2813/lib2813/vendor/rev/InvertTypes.java

@@ -13,20 +13,15 @@
 See the License for the specific language governing permissions and
 limitations under the License.
 */
-package com.team2813.lib2813.util;
+package com.team2813.lib2813.vendor.rev;
 
 import com.revrobotics.REVLibError;
 import edu.wpi.first.wpilibj.DriverStation;
 import java.util.function.Supplier;
 
-public class ConfigUtils {
+public class RevUtils {
   private static final int ATTEMPTS = 10;
 
-  // make class non-instantiable
-  private ConfigUtils() {
-    throw new AssertionError("cannot create ConfigUtils instance");
-  }
-
   public static void revConfig(Supplier<REVLibError> configMethod) {
     REVLibError errorCode = configMethod.get();
     for (int i = 1; i <= ATTEMPTS && errorCode != REVLibError.kOk; i++) {
@@ -38,4 +33,8 @@ public static void revConfig(Supplier<REVLibError> configMethod) {
       DriverStation.reportError(String.format("%s: Config Failed", errorCode.toString()), false);
     }
   }
+
+  private RevUtils() {
+    throw new AssertionError("Not instantiable");
+  }
 }

…m/team2813/lib2813/util/ConfigUtils.java …eam2813/lib2813/vendor/rev/RevUtils.javalib/src/main/java/com/team2813/lib2813/util/ConfigUtils.java renamed to vendor/rev/src/main/java/com/team2813/lib2813/vendor/rev/RevUtils.java lib/src/main/java/com/team2813/lib2813/util/ConfigUtils.java renamed to vendor/rev/src/main/java/com/team2813/lib2813/vendor/rev/RevUtils.java

@@ -13,7 +13,7 @@
 See the License for the specific language governing permissions and
 limitations under the License.
 */
-package com.team2813.lib2813.control.motors;
+package com.team2813.lib2813.vendor.rev.motor;
 
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.ClosedLoopSlot;
@@ -27,13 +27,15 @@
 import com.team2813.lib2813.control.ControlMode;
 import com.team2813.lib2813.control.InvertType;
 import com.team2813.lib2813.control.PIDMotor;
-import com.team2813.lib2813.util.ConfigUtils;
+import com.team2813.lib2813.vendor.rev.InvertTypes;
+import com.team2813.lib2813.vendor.rev.RevUtils;
 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;
 
 public class SparkMaxWrapper implements PIDMotor {
   private final List<SparkMax> followers = new ArrayList<>();
@@ -51,15 +53,15 @@ public class SparkMaxWrapper implements PIDMotor {
    * @param type The motor type connected to the controller. Brushless motor wires must be connected
    *     to their matching colors and the hall sensor must be plugged in. Brushed motors must be
    *     connected to the Red and Black terminals only.
-   * @param inverted Whether the motor is inverted
+   * @param invertType Whether the motor is inverted
    */
-  public SparkMaxWrapper(int deviceId, SparkLowLevel.MotorType type, InvertType inverted) {
+  public SparkMaxWrapper(int deviceId, SparkLowLevel.MotorType type, InvertType invertType) {
     motor = new SparkMax(deviceId, type);
-    this.inverted = inverted.sparkMaxInvert().orElseThrow();
+    this.inverted = toSparkMaxInvert(invertType);
     config = new SparkMaxConfig().apply(new AlternateEncoderConfig().inverted(this.inverted));
     persistMode = SparkBase.PersistMode.kNoPersistParameters;
     resetMode = SparkBase.ResetMode.kResetSafeParameters;
-    ConfigUtils.revConfig(() -> motor.configure(config, resetMode, persistMode));
+    RevUtils.revConfig(() -> motor.configure(config, resetMode, persistMode));
     encoder = motor.getEncoder();
   }
 
@@ -116,7 +118,7 @@ public void configPIDF(int slot, double p, double i, double d, double f) {
     ClosedLoopConfig closedLoopConfig = new ClosedLoopConfig().pid(p, i, d, cSlot);
     closedLoopConfig.feedForward.kV(f, cSlot);
     config.apply(closedLoopConfig);
-    ConfigUtils.revConfig(() -> motor.configure(config, resetMode, persistMode));
+    RevUtils.revConfig(() -> motor.configure(config, resetMode, persistMode));
   }
 
   @Override
@@ -134,18 +136,26 @@ public void configPID(double p, double i, double d) {
     configPIDF(0, p, i, d, 0);
   }
 
-  public void addFollower(int deviceId, SparkLowLevel.MotorType type, InvertType inverted) {
+  public void addFollower(int deviceId, SparkLowLevel.MotorType type, InvertType invertType) {
     SparkMax follower = new SparkMax(deviceId, type);
     boolean isInverted =
-        switch (inverted) {
-          case CLOCKWISE, COUNTER_CLOCKWISE -> inverted.sparkMaxInvert().orElseThrow();
+        switch (invertType) {
+          case CLOCKWISE, COUNTER_CLOCKWISE -> toSparkMaxInvert(invertType);
           case FOLLOW_MASTER -> this.inverted;
           case OPPOSE_MASTER -> !this.inverted;
         };
-    ConfigUtils.revConfig(
+    RevUtils.revConfig(
         () ->
             follower.configure(
                 new SparkMaxConfig().follow(motor).inverted(isInverted), resetMode, persistMode));
     followers.add(follower); // add to follower list so CANSparkMax follower object is preserved
   }
+
+  private static boolean toSparkMaxInvert(InvertType invertType) {
+    Objects.requireNonNull(invertType, "invertType should not be null");
+    return InvertTypes.toSparkMaxInvert(invertType)
+        .orElseThrow(
+            () ->
+                new IllegalArgumentException("invertType must be CLOCKWISE or COUNTER_CLOCKWISE"));
+  }
 }

…2813/control/motors/SparkMaxWrapper.java …13/vendor/rev/motor/SparkMaxWrapper.javalib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java renamed to vendor/rev/src/main/java/com/team2813/lib2813/vendor/rev/motor/SparkMaxWrapper.java lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java renamed to vendor/rev/src/main/java/com/team2813/lib2813/vendor/rev/motor/SparkMaxWrapper.java

@@ -0,0 +1,48 @@
+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.vendor.rev;
+
+import static com.google.common.truth.Truth.assertThat;
+import static com.google.common.truth.Truth.assertWithMessage;
+
+import com.team2813.lib2813.control.InvertType;
+import java.util.Optional;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.FieldSource;
+import org.junit.jupiter.params.provider.ValueSource;
+
+/** Tests for {@link InvertTypes}. */
+class InvertTypesTest {
+
+  @ParameterizedTest
+  @FieldSource("com.team2813.lib2813.control.InvertType#rotationValues")
+  public void toSparkMaxInvert(InvertType invertType) {
+    Optional<Boolean> value = InvertTypes.toSparkMaxInvert(invertType);
+
+    assertWithMessage("No InvertedValue exists for InvertType.%s", invertType)
+        .that(value)
+        .isPresent();
+  }
+
+  @ParameterizedTest
+  @ValueSource(booleans = {true, false})
+  public void toInvertType(boolean sparkMaxInvert) {
+    InvertType invertType = InvertTypes.toInvertType(sparkMaxInvert);
+
+    assertThat(invertType).isNotNull();
+    assertThat(InvertTypes.toSparkMaxInvert(invertType)).hasValue(sparkMaxInvert);
+  }
+}