Merge branch 'master' into remove-sparkmax-unplugged-handler

Author: CoolSpy3

.github/workflows/release.yml

@@ -0,0 +1,20 @@
+name: Create Release
+
+on:
+  push:
+    tags:
+      - '[0-9]+.[0-9]+.[0-9]+'
+
+jobs:
+  release:
+    name: Release Tag
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Create Release
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          tag: ${{ github.ref_name }}
+        run: |
+          gh release create "$tag" --repo="$GITHUB_REPOSITORY" --title="$tag" --generate-notes

src/main/java/org/carlmontrobotics/lib199/CachedSparkMax.java

@@ -4,6 +4,7 @@
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxPIDController;
 
+@Deprecated
 public class CachedSparkMax extends CANSparkMax {
 
     private RelativeEncoder encoder;

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

@@ -120,7 +120,7 @@ public static CANSparkMax createSparkMax(int id, int temperatureLimit) {
   public static CANSparkMax createSparkMax(int id, MotorConfig config) {
     CANSparkMax spark;
     if (RobotBase.isReal()) {
-      spark = new CachedSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
+      spark = new CANSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
     } else {
       spark = MockSparkMax.createMockSparkMax(id, CANSparkMaxLowLevel.MotorType.kBrushless);
     }

src/main/java/org/carlmontrobotics/lib199/path/RobotPath.java

@@ -85,12 +85,12 @@ public Command getPathCommand(boolean faceInPathDirection, boolean stopAtEnd) {
         if (trajectory == null) {
             generateTrajectory();
         }
-        hs.reset();
         // We want the robot to stay facing the same direction (in this case), so save
         // the current heading (make sure to update at the start of the command)
         AtomicReference<Rotation2d> headingRef = new AtomicReference<>(dt.getPose().getRotation());
         Supplier<Rotation2d> desiredHeading = (!faceInPathDirection) ? () -> headingRef.get() : () -> hs.sample();
         Command command = dt.createAutoCommand(trajectory, desiredHeading);
+        command = new InstantCommand(hs::reset).andThen(command, new InstantCommand(hs::stop));
         if (stopAtEnd) {
             command = command.andThen(new InstantCommand(dt::stop, dt));
         }
@@ -310,5 +310,13 @@ public void reset() {
             timerStarted = false;
             timer.reset();
         }
+
+        /**
+         * Stops the timer
+         */
+        public void stop() {
+            timer.stop();
+            reset();
+        }
     }
 }