From 883bc7f730fc756ed2b629315e3dbe20dda14b57 Mon Sep 17 00:00:00 2001
From: Spderman3333 <118777573+spderman3333@users.noreply.github.com>
Date: Tue, 28 Oct 2025 15:28:28 -0700
Subject: [PATCH 1/4] Made methods non final, so we can override them

---
 .../lib2813/subsystems/MotorSubsystem.java    | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

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 c33a905f..8cb5373e 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -73,7 +73,7 @@ protected MotorSubsystem(MotorSubsystemConfiguration builder) {
    *
    * @param position the position to go to.
    */
-  public final void setSetpoint(T position) {
+  public void setSetpoint(T position) {
     if (!isEnabled()) {
       enable();
     }
@@ -86,17 +86,17 @@ public final void setSetpoint(T position) {
    *
    * @param setpoint the position to go to.
    */
-  public final Command setSetpointCommand(T setpoint) {
+  public Command setSetpointCommand(T setpoint) {
     return new InstantCommand(() -> this.setSetpoint(setpoint), this);
   }
 
   /** Returns the current setpoint as an angle. */
-  public final Angle getSetpoint() {
+  public Angle getSetpoint() {
     return rotationUnit.of(controller.getSetpoint());
   }
 
   /** Determines if the motor is at the current setpoint, within the acceptable error. */
-  public final boolean atPosition() {
+  public boolean atPosition() {
     return Math.abs(getMeasurement() - controller.getSetpoint()) <= acceptableError;
   }
 
@@ -106,7 +106,7 @@ public final boolean atPosition() {
    * <p>Additionally, this method disables PID control of the subsystem
    */
   @Override
-  public final void set(ControlMode mode, double demand, double feedForward) {
+  public void set(ControlMode mode, double demand, double feedForward) {
     if (isEnabled()) {
       disable();
     }
@@ -114,7 +114,7 @@ public final void set(ControlMode mode, double demand, double feedForward) {
   }
 
   @Override
-  public final Current getAppliedCurrent() {
+  public Current getAppliedCurrent() {
     return motor.getAppliedCurrent();
   }
 
@@ -124,7 +124,7 @@ public final Current getAppliedCurrent() {
    * <p>The motor voltage will be periodically updated to move the motor towards the current
    * setupoint.
    */
-  public final void enable() {
+  public void enable() {
     isEnabled = true;
   }
 
@@ -134,7 +134,7 @@ public final void enable() {
    * <p>The motor voltage will be set to zero, and the motor will not adjust to move towards the
    * current setpoint.
    */
-  public final void disable() {
+  public void disable() {
     isEnabled = false;
     motor.disable();
   }
@@ -144,7 +144,7 @@ public final void disable() {
    *
    * @return Whether the controller is enabled.
    */
-  public final boolean isEnabled() {
+  public boolean isEnabled() {
     return isEnabled;
   }
 
@@ -155,7 +155,7 @@ public final boolean isEnabled() {
    * the provided value.
    */
   @Override
-  public final void set(ControlMode mode, double demand) {
+  public void set(ControlMode mode, double demand) {
     isEnabled = false;
     motor.set(mode, demand);
   }
@@ -197,7 +197,7 @@ protected double clampOutput(double output) {
     return output;
   }
 
-  protected final double getMeasurement() {
+  protected double getMeasurement() {
     return encoder.getPositionMeasure().in(rotationUnit);
   }
 
@@ -208,7 +208,7 @@ public double position() {
   }
 
   @Override
-  public final Angle getPositionMeasure() {
+  public Angle getPositionMeasure() {
     return encoder.getPositionMeasure();
   }
 
@@ -219,7 +219,7 @@ public void setPosition(double position) {
   }
 
   @Override
-  public final void setPosition(Angle position) {
+  public void setPosition(Angle position) {
     encoder.setPosition(position);
   }
 
@@ -230,7 +230,7 @@ public double getVelocity() {
   }
 
   @Override
-  public final AngularVelocity getVelocityMeasure() {
+  public AngularVelocity getVelocityMeasure() {
     return encoder.getVelocityMeasure();
   }
 

From 6dbf0020c9ea066a4ff78c4ccec5d776ac29746d Mon Sep 17 00:00:00 2001
From: Spderman3333 <118777573+spderman3333@users.noreply.github.com>
Date: Wed, 29 Oct 2025 16:26:48 -0700
Subject: [PATCH 2/4] made setSetpointCommand and setSetpoint protected

---
 .../java/com/team2813/lib2813/subsystems/MotorSubsystem.java  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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 8cb5373e..28221003 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -73,7 +73,7 @@ protected MotorSubsystem(MotorSubsystemConfiguration builder) {
    *
    * @param position the position to go to.
    */
-  public void setSetpoint(T position) {
+  protected void setSetpoint(T position) {
     if (!isEnabled()) {
       enable();
     }
@@ -86,7 +86,7 @@ public void setSetpoint(T position) {
    *
    * @param setpoint the position to go to.
    */
-  public Command setSetpointCommand(T setpoint) {
+  protected Command setSetpointCommand(T setpoint) {
     return new InstantCommand(() -> this.setSetpoint(setpoint), this);
   }
 

From d6a3c3d8e15c4a4b080fdff882bde0d5c2366736 Mon Sep 17 00:00:00 2001
From: Spderman3333 <118777573+spderman3333@users.noreply.github.com>
Date: Wed, 29 Oct 2025 16:31:58 -0700
Subject: [PATCH 3/4] oops

---
 .../java/com/team2813/lib2813/subsystems/MotorSubsystem.java    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 28221003..88d5edc7 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -73,7 +73,7 @@ protected MotorSubsystem(MotorSubsystemConfiguration builder) {
    *
    * @param position the position to go to.
    */
-  protected void setSetpoint(T position) {
+  public void setSetpoint(T position) {
     if (!isEnabled()) {
       enable();
     }

From de6dcdafc5655b3a5e852997301553f74e5f57ee Mon Sep 17 00:00:00 2001
From: spderman3333 <118777573+spderman3333@users.noreply.github.com>
Date: Thu, 30 Oct 2025 21:34:47 -0700
Subject: [PATCH 4/4] Address suggestions

---
 .../java/com/team2813/lib2813/subsystems/MotorSubsystem.java  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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 88d5edc7..48ef98a7 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -86,7 +86,7 @@ public void setSetpoint(T position) {
    *
    * @param setpoint the position to go to.
    */
-  protected Command setSetpointCommand(T setpoint) {
+  public final Command setSetpointCommand(T setpoint) {
     return new InstantCommand(() -> this.setSetpoint(setpoint), this);
   }
 
@@ -96,7 +96,7 @@ public Angle getSetpoint() {
   }
 
   /** Determines if the motor is at the current setpoint, within the acceptable error. */
-  public boolean atPosition() {
+  public final boolean atPosition() {
     return Math.abs(getMeasurement() - controller.getSetpoint()) <= acceptableError;
   }