Merge pull request #6 from glowkate/main

Added a fake DriveTrainVariant and a constant to disable the DriveTrain.

src/main/java/ca/warp7/frc2022/Constants.java

@@ -24,6 +24,7 @@ public final class Constants {
     // Configuration
 
     public static final boolean kEnableSolenoids = true;
+    public static final boolean kEnableDriveTrain = true;
 
     public static final boolean kDebugCommandScheduler = false;
     public static final boolean kUseKinematicsDrive = false;

src/main/java/ca/warp7/frc2022/Robot.java

@@ -41,8 +41,6 @@ public final class Robot extends TimedRobot {
     public void robotInit() {
         System.out.println("Hello me is robit!");
 
-        DriveTrain.setVariant(new FalconDriveTrainVariant());
-
         scheduler = CommandScheduler.getInstance();
 
         if (Constants.kDebugCommandScheduler) {

src/main/java/ca/warp7/frc2022/subsystems/DriveTrain.java

@@ -9,7 +9,8 @@
 
 import ca.warp7.frc2022.lib.LazySolenoid;
 import ca.warp7.frc2022.lib.control.PID;
-import ca.warp7.frc2022.subsystems.drivetrain.DriveTrainVariant;
+import ca.warp7.frc2022.subsystems.drivetrain.*;
+
 import com.kauailabs.navx.frc.AHRS;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.Timer;
@@ -35,13 +36,6 @@ public static DriveTrain getInstance() {
 
     private static DriveTrainVariant driveTrainVariant;
 
-    public static void setVariant(DriveTrainVariant variant) {
-        if (driveTrainVariant != null) {
-            throw new IllegalStateException("Cannot set drive train variant");
-        }
-        driveTrainVariant = variant;
-    }
-
     private final LazySolenoid shifterSolenoid =
             new LazySolenoid(kDriveShifterID, kEnableSolenoids);
 
@@ -61,6 +55,12 @@ public static void setVariant(DriveTrainVariant variant) {
     private double previousRightPosition = 0.0; // m
 
     private DriveTrain() {
+        if (kEnableDriveTrain){
+            driveTrainVariant = new FalconDriveTrainVariant();
+        }
+        else{
+            driveTrainVariant = new LazyDriveTrainVariant();
+        }
     }
 
     @Override

src/main/java/ca/warp7/frc2022/subsystems/drivetrain/LazyDriveTrainVariant.java

@@ -0,0 +1,97 @@
+package ca.warp7.frc2022.subsystems.drivetrain;
+
+import ca.warp7.frc2022.lib.control.PID;
+
+
+/*
+    This class is suppose to be a substitute for an instance of DriveTrainVariant. To the rest of the program,
+    its a valid DriveTrainVariant, however it does not actually do anything.
+
+    THIS CLASS IS NOT USED WHEN THE DRIVE TRAIN IS ENABLED, NONE OF THE METHODS DO ANYTHING OF USE.
+*/
+public final class LazyDriveTrainVariant implements DriveTrainVariant {
+    public LazyDriveTrainVariant() {
+    }
+
+    @Override
+    public void setVelocityPID(
+            double leftVelocityRotationsPerSecond,
+            double rightVelocityRotationsPerSecond,
+            double leftVoltage,
+            double rightVoltage) {
+    }
+
+    @Override
+    public void setPositionPID(double leftDistanceRotations, double rightDistanceRotations) {
+    }
+
+    @Override
+    public void configurePID(PID pid) {
+    }
+
+    @Override
+    public void configureRampRate(double secondsFromNeutralToFull) {
+    }
+
+    @Override
+    public void setEncoderPosition(double leftRotations, double rightRotations) {
+    }
+
+    @Override
+    public void setBrake() {
+    }
+
+    @Override
+    public void setCoast() {
+    }
+
+    @Override
+    public double getLeftPositionRotations() {
+        return (0.0);
+    }
+
+    @Override
+    public double getRightPositionRotations() {
+        return (0.0);
+    }
+
+    @Override
+    public double getLeftVelocityRPS() {
+        return (0.0);
+    }
+
+    @Override
+    public double getRightVelocityRPS() {
+        return (0.0);
+    }
+
+    @Override
+    public double getLeftVoltage() {
+        return (0.0);
+    }
+
+    @Override
+    public double getRightVoltage() {
+        return (0.0);
+    }
+
+    @Override
+    public void neutralOutput() {
+    }
+
+    @Override
+    public void setPercentOutput(double leftPercent, double rightPercent) {
+    }
+
+    @Override
+    public double getLeftPIDErrorRotations() {
+        return(0.0);
+
+    }
+
+    @Override
+    public double getRightPIDErrorRotations() {
+        return(0.0);
+
+    }
+}