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Improvements to MotorSubsystem - #46

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kcooney merged 6 commits into
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kcooney/motor-subsystem
Oct 3, 2025
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Improvements to MotorSubsystem#46
kcooney merged 6 commits into
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kcooney/motor-subsystem

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@kcooney kcooney commented Jul 26, 2025 •
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  • Do not clamp output in disable()
  • Add setSetpointCommand()
  • Add clampOutput() protected method
  • Deprecate useOutput(double, double)
  • Remove setpoint field (instead, get from the controller)
  • Add missing @Override annotations
  • Mark many methods as final
  • Optionally publish to NetworkTables (Update MotorSubsystem to optionally publish to NetworkTables #47)

@kcooney
kcooney force-pushed the kcooney/motor-subsystem branch 2 times, most recently from d089ee8 to 6c20c54 Compare July 26, 2025 02:09
cuttestkittensrule
cuttestkittensrule reviewed Aug 23, 2025
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Is there a reason you deprecated starting position?

@kcooney
kcooney force-pushed the kcooney/motor-subsystem branch from 5f133ce to ccac542 Compare August 25, 2025 02:54
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kcooney commented Aug 25, 2025 •
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Is there a reason you deprecated starting position?

Chatted off-line with @cuttestkittensrule. The MotorSubsystem constructor needs to set the set-point of the controller.

@kcooney
kcooney force-pushed the kcooney/motor-subsystem branch 3 times, most recently from c5ad791 to 39b00fa Compare August 25, 2025 05:18
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kcooney commented Aug 25, 2025

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Is there a reason you deprecated starting position?

Chatted off-line with @cuttestkittensrule. The MotorSubsystem constructor needs to set the set-point of the controller.

Fixed. PTAL

@kcooney
kcooney force-pushed the kcooney/motor-subsystem branch from 39b00fa to 9e40dda Compare August 25, 2025 05:23
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kcooney commented Sep 14, 2025

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@cuttestkittensrule friendly ping

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kcooney force-pushed the kcooney/motor-subsystem branch 7 times, most recently from f6a837b to 7f449ac Compare September 23, 2025 01:43
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kcooney changed the base branch from main to kcooney/get-applied-current September 23, 2025 01:44
Base automatically changed from kcooney/get-applied-current to main September 24, 2025 03:17
@kcooney
kcooney force-pushed the kcooney/motor-subsystem branch 2 times, most recently from 6f5dacf to 631fd7d Compare September 27, 2025 22:09
cuttestkittensrule
cuttestkittensrule approved these changes Oct 3, 2025
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lgtm

kcooney added 5 commits October 3, 2025 11:48
@kcooney
Improvements to MotorSubsystem
5c4cc30 
- Add `setSetpointCommand()`
- Add `clampOutput()` protected method
- Add `useOutput(double)`
- Deprecate `useOutput(double, double)`
- Remove `setpoint` field (instead, get from the controller)
- Improve Javadoc
@kcooney
Add @OverRide methods to overriden methods; update @deprecated annota…
23ca267 
…tions
@kcooney
Do not clamp output in disable()
65bb800
@kcooney
Make methods final that can be final
6336690
@kcooney
Improve JavaDoc
ac89ca8
@kcooney
kcooney force-pushed the kcooney/motor-subsystem branch from 631fd7d to ac89ca8 Compare October 3, 2025 18:48
@kcooney
kcooney merged commit cfeea88 into main Oct 3, 2025
1 check passed
@kcooney
kcooney deleted the kcooney/motor-subsystem branch October 4, 2025 00:22
kcooney added a commit to Prospect-Robotics/Robot2025 that referenced this pull request Oct 15, 2025
@kcooney
Update to the latest commit of lib2813
af6d9c2 
This includes the following:
- Prospect-Robotics/lib2813#46
- Prospect-Robotics/lib2813#67
- Prospect-Robotics/lib2813#71
- Prospect-Robotics/lib2813#75
- Prospect-Robotics/lib2813#77
- Prospect-Robotics/lib2813#78
- Prospect-Robotics/lib2813#80
- Prospect-Robotics/lib2813#81
- Prospect-Robotics/lib2813#85
@kcooney kcooney mentioned this pull request Oct 15, 2025
Draft
kcooney added a commit to Prospect-Robotics/Robot2025 that referenced this pull request Oct 15, 2025
@kcooney
Update lib2813 to f5348e28
2abaeed 
This includes the following:
- Prospect-Robotics/lib2813#46
- Prospect-Robotics/lib2813#67
- Prospect-Robotics/lib2813#71
- Prospect-Robotics/lib2813#75
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