Smart Motor Controller Wrapper for Brushless Motors

[thenetworkgrinch]

Smart Motor controllers have made huge advancements in FRC that merit a generalized class so WPI can write documentation on how to utilize these features.

The most prevalent example would be a Swerve Motor Controller, and as such would be the ideal scenario to develop for.

The general interface would need

1. getSupplyVoltage() and/or getStatorVoltage() (Can be combined with enum parameter)
2. getSupplyCurrent() and/or getStatorCurrent() (Can be combined with enum parameter)
3. setCurrentLimit(CurrentLimitClass limits)
4. setRampRate(RampRateClass rate)
5. setMotorRotationToMechanismRotation(Rotation.of(0.25), Rotation.of(1))
6. setFeedback(FeedbackClass pid)
7. setFeedforward(SimpleMotorFeedforward ff)
8. setTarget(Rotation) and setTarget(LinearVelocity)
9. getPosition() and getVelocity()
10. saveSettings()
11. setBrakeMode(bool)

A general reference would be YAGSL SwerveMotor however this is unfit for a complete push into WPILib because it is even more generic.
https://github.com/BroncBotz3481/YAGSL-Example/blob/dev/src/main/java/swervelib/motors/SwerveMotor.java

[TheTripleV]

I agree wrappers are useful. Got started on a spec here https://docs.google.com/document/d/1N0p_WPJfvQAa_iPqGGgkQPSaS9B87mLqIYqtC-e1O94/edit but didn't get around to making more progress

[thenetworkgrinch]

Can you make that into a gist?