From aac74cf5a25984fe8d24e8b741e6e7a12ab9f431 Mon Sep 17 00:00:00 2001
From: cuttestkittensrule <mangoiscute95@gmail.com>
Date: Tue, 14 Oct 2025 12:35:38 -0700
Subject: [PATCH] Force non-positional control for the MotorSubsystem
 ControlMode

Achieved by throwing an exception if the control mode uses positional control

also removes unused ControlMode API
---
 .../team2813/lib2813/control/ControlMode.java | 20 +++++++++----------
 .../lib2813/subsystems/MotorSubsystem.java    |  8 ++++++++
 2 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/lib/src/main/java/com/team2813/lib2813/control/ControlMode.java b/lib/src/main/java/com/team2813/lib2813/control/ControlMode.java
index 0ae960c7..4bbc194c 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/ControlMode.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/ControlMode.java
@@ -1,20 +1,18 @@
 package com.team2813.lib2813.control;
 
-import com.revrobotics.spark.SparkBase.ControlType;
-
 public enum ControlMode {
-  DUTY_CYCLE(ControlType.kDutyCycle),
-  VELOCITY(ControlType.kVelocity),
-  MOTION_MAGIC(ControlType.kPosition),
-  VOLTAGE(ControlType.kVoltage);
+  DUTY_CYCLE(false),
+  VELOCITY(false),
+  MOTION_MAGIC(true),
+  VOLTAGE(false);
 
-  private final ControlType sparkMode;
+  private final boolean isPositionalControl;
 
-  ControlMode(ControlType sparkMode) {
-    this.sparkMode = sparkMode;
+  ControlMode(boolean isPositionalControl) {
+    this.isPositionalControl = isPositionalControl;
   }
 
-  public ControlType getSparkMode() {
-    return sparkMode;
+  public boolean isPositionalControl() {
+    return isPositionalControl;
   }
 }
diff --git a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
index d2e76276..c33a905f 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -311,8 +311,16 @@ public MotorSubsystemConfiguration controller(PIDController controller) {
      *
      * @param controlMode The mode to use when controlling the motor
      * @return {@code this} for chaining
+     * @throws IllegalArgumentException If {@code controlMode} is for positional control
      */
     public MotorSubsystemConfiguration controlMode(ControlMode controlMode) {
+      if (controlMode.isPositionalControl()) {
+        throw new IllegalArgumentException(
+            String.format(
+                "Control mode %s is for positional control. This is invalid! Please use a different"
+                    + " control mode",
+                controlMode));
+      }
       this.controlMode = controlMode;
       return this;
     }