Merge pull request #16 from flamingchickens1540/compatibility

 Add deprecated compatibility methods

src/main/java/org/team1540/base/wrappers/ChickenTalon.java

@@ -904,4 +904,252 @@ public ErrorCode setStatusFramePeriod(int frameValue, int periodMs) {
   public ErrorCode setStatusFramePeriod(StatusFrame frame, int periodMs) {
     return super.setStatusFramePeriod(frame, periodMs, defaultTimeoutMs);
   }
+
+  // HERE ON DOWN IS DEPRECATED STUFF FOR COMPATIBILITY PURPOSES
+  // Yes, we're aware that CTRE wrote their own compatbility thing, but it's big and sucky so here's this
+
+  /**
+   * @deprecated Use {@link #setControlMode(ControlMode)}
+   */
+  @Deprecated
+  public void setControlMode(int mode) {
+    changeControlMode(TalonControlMode.valueOf(mode));
+  }
+
+  /**
+   * @deprecated Use {@link #setControlMode(ControlMode)}
+   */
+  @Deprecated
+  public void changeControlMode(TalonControlMode controlMode) {
+    if (controlMode.ctrl != null) {
+      setControlMode(controlMode.ctrl);
+    }
+  }
+
+  /**
+   * @deprecated Use {@link #config_kP(int, double)}, {@link #config_kI(int, double)}, and {@link
+   * #config_kD(int, double)}
+   */
+  @Deprecated
+  public void setPID(double p, double i, double d) {
+    config_kP(defaultPidIdx, p);
+    config_kI(defaultPidIdx, i);
+    config_kP(defaultPidIdx, d);
+  }
+
+  /**
+   * Set the proportional value of the currently selected profile.
+   *
+   * @param p Proportional constant for the currently selected PID profile.
+   * @deprecated Use {@link #config_kP(int, double)}
+   */
+  @Deprecated
+  public void setP(double p) {
+    config_kP(defaultPidIdx, p);
+  }
+
+  /**
+   * Set the integration constant of the currently selected profile.
+   *
+   * @param i Integration constant for the currently selected PID profile.
+   * @deprecated Use {@link #config_kI(int, double)}
+   */
+  @Deprecated
+  public void setI(double i) {
+    config_kI(defaultPidIdx, i);
+  }
+
+  /**
+   * Set the derivative constant of the currently selected profile.
+   *
+   * @param d Derivative constant for the currently selected PID profile.
+   * @deprecated Use {@link #config_kD(int, double)}
+   */
+  @Deprecated
+  public void setD(double d) {
+    config_kD(defaultPidIdx, d);
+  }
+
+  /**
+   * Set the feedforward value of the currently selected profile.
+   *
+   * @param f Feedforward constant for the currently selected PID profile.
+   * @deprecated Use {@link #config_kF(int, double, int)}
+   */
+  @Deprecated
+  public void setF(double f) {
+    config_kF(defaultPidIdx, f);
+  }
+
+  /**
+   * @deprecated Use {@link #setBrake(boolean)}
+   */
+  @Deprecated
+  public void enableBrakeMode(boolean brake) {
+    setBrake(brake);
+  }
+
+  /**
+   * Configure how many codes per revolution are generated by your encoder.
+   *
+   * @param codesPerRev The number of counts per revolution.
+   * @deprecated Use {@link #setEncoderCodesPerRev(double)}
+   */
+  @Deprecated
+  public void configEncoderCodesPerRev(int codesPerRev) {
+    this.setEncoderCodesPerRev(codesPerRev);
+  }
+
+  /**
+   * When using analog sensors, 0 units corresponds to 0V, 1023 units corresponds to 3.3V. When
+   * using an analog encoder (wrapping around 1023 to 0 is possible) the units are still 3.3V per
+   * 1023 units. When using quadrature, each unit is a quadrature edge (4X) mode.
+   *
+   * @return The position of the sensor currently providing feedback.
+   * @deprecated Use {@link #getSelectedSensorPosition()}
+   */
+  @Deprecated
+  public double getPosition() {
+    return getSelectedSensorPosition();
+  }
+
+  /**
+   * @deprecated Use {@link #setSelectedSensorPosition(int)}
+   */
+  @Deprecated
+  public void setPosition(double pos) {
+    setSelectedSensorPosition(Math.toIntExact(Math.round(pos)));
+  }
+
+  /**
+   * @deprecated Use {@link #configSelectedFeedbackSensor(FeedbackDevice)}
+   */
+  @Deprecated
+  public void setFeedbackDevice(FeedbackDevice device) {
+    configSelectedFeedbackSensor(device);
+  }
+
+  /**
+   * Set the voltage ramp rate for the current profile. Limits the rate at which the throttle will
+   * change. Affects all modes.
+   *
+   * @deprecated Use {@link #configOpenloopRamp(double)}
+   */
+  @Deprecated
+  public void setVoltageRampRate(double rampRate) {
+    configOpenloopRamp(rampRate);
+  }
+
+  /**
+   * Select which closed loop profile to use, and uses whatever PIDF gains and the such that are
+   * already there.
+   *
+   * @deprecated Use {@link #selectProfileSlot(int)}
+   */
+  @Deprecated
+  public void setProfile(int profile) {
+    selectProfileSlot(profile);
+  }
+
+  /**
+   * Get the current encoder position, regardless of whether it is the current feedback device.
+   *
+   * @deprecated Use {@link #getQuadraturePosition()}
+   */
+  @Deprecated
+  public int getEncPosition() {
+    return getQuadraturePosition();
+  }
+
+  /**
+   * Get the current encoder velocity, regardless of whether it is the current feedback device.
+   *
+   * @deprecated Use {@link #getQuadratureVelocity()}
+   */
+  @Deprecated
+  public int getEncVelocity() {
+    return getQuadratureVelocity();
+  }
+
+  /**
+   * Returns the difference between the setpoint and the current position.
+   *
+   * @return The error in units corresponding to whichever mode we are in.
+   * @deprecated Use {@link #getClosedLoopError()}
+   */
+  @Deprecated
+  public double getError() {
+    return getClosedLoopError();
+  }
+
+  /**
+   * @deprecated Use {@link ControlMode}
+   */
+  @Deprecated
+  public enum TalonControlMode {
+    PercentVbus(0, ControlMode.PercentOutput),
+    Position(1, ControlMode.Position),
+    Speed(2, ControlMode.Velocity),
+    Current(3, ControlMode.Current),
+    Voltage(4, null),
+    Follower(5, ControlMode.Follower),
+    MotionProfile(6, ControlMode.MotionProfile),
+    MotionMagic(7, ControlMode.MotionMagic),
+    Disabled(15, ControlMode.Disabled);
+
+    public final int value;
+    private final ControlMode ctrl;
+
+    TalonControlMode(int value, ControlMode ctrl) {
+      this.value = value;
+      this.ctrl = ctrl;
+    }
+
+    public static TalonControlMode valueOf(int value) {
+      TalonControlMode[] var1 = values();
+      int var2 = var1.length;
+
+      for (TalonControlMode mode : var1) {
+        if (mode.value == value) {
+          return mode;
+        }
+      }
+
+      return null;
+    }
+
+    public boolean isPID() {
+      return this == Current || this == Speed || this == Position;
+    }
+
+    public int getValue() {
+      return this.value;
+    }
+
+  }
+
+  /**
+   * Flips the sign (multiplies by negative one) the throttle values going into the motor on the
+   * talon in closed loop modes.
+   *
+   * @param flip True if motor output should be flipped; False if not.
+   * @deprecated Use {@link #setInverted(boolean)}
+   */
+  @Deprecated
+  public void reverseOutput(boolean flip) {
+    setInverted(flip);
+  }
+
+  /**
+   * Flips the sign (multiplies by negative one) the sensor values going into the talon. This only
+   * affects position and velocity closed loop control. Allows for situations where you may have a
+   * sensor flipped and going in the wrong direction.
+   *
+   * @param flip True if sensor input should be flipped; False if not.
+   * @deprecated Use {@link #setSensorPhase(boolean)}
+   */
+  public void reverseSensor(boolean flip) {
+    setSensorPhase(flip);
+  }
+
 }