implementing RobotConfigurator in various Robot classes

src/main/java/com/team766/hal/RobotConfigurator.java

@@ -3,11 +3,26 @@
 import com.team766.framework.AutonomousMode;
 import com.team766.framework.Procedure;
 
-// TODO: better name?
+/**
+ * Provides Robot-specific components: initializes {@link Mechanism}s, creates the Operator Interface (OI),
+ * and returns the {@link AutonomousMode}s.
+ *
+ * @see RobotSelector
+ */
 public interface RobotConfigurator {
+
+    /**
+     * Initializes the {@link Mechanism}s for this robot.
+     */
     void initializeMechanisms();
 
+    /**
+     * Creates the Operator Interface (OI) for this robot.
+     */
     Procedure createOI();
 
+    /**
+     * Returns an array of {@link AutonomousMode}s available for this robot.
+     */
     AutonomousMode[] getAutonomousModes();
 }

src/main/java/com/team766/hal/RobotSelector.java

@@ -6,16 +6,24 @@
 import com.team766.logging.Logger;
 import com.team766.logging.LoggerExceptionUtils;
 import com.team766.logging.Severity;
-import com.team766.robot.example.ExampleConfigurator;
+import com.team766.robot.example.Robot;
 
-public final class RobotSelector {
+/**
+ * Utility class that reads the name of a {@link RobotConfigurator} from the config file, under the key
+ * 'robotConfigurator', and creates an instance of that configurator.
+ */
+/* packaage */ final class RobotSelector {
 
     private static final String ROBOT_CONFIGURATOR_KEY = "robotConfigurator";
-    private static final String DEFAULT_CONFIGURATOR = ExampleConfigurator.class.getName();
+    private static final String DEFAULT_CONFIGURATOR = Robot.class.getName();
 
-    private RobotSelector() {}
+    private RobotSelector() {} // utility class
 
-    public static RobotConfigurator createConfigurator() {
+    /**
+     * Creates a configurator specified by the 'robotConfigurator' key in the config file.
+     * If unable to create this configurator, backs off to the example one.
+     */
+    /* package */ static RobotConfigurator createConfigurator() {
         ValueProvider<String> configuratorProvider =
                 ConfigFileReader.instance.getString(ROBOT_CONFIGURATOR_KEY);
         String robotConfigurator =
@@ -32,7 +40,7 @@ public static RobotConfigurator createConfigurator() {
                             "Unable to create RobotConfigurator {0}.  Using default.",
                             robotConfigurator);
             LoggerExceptionUtils.logException(e);
-            return new ExampleConfigurator();
+            return new Robot();
         }
     }
 }

src/main/java/com/team766/robot/example/Robot.java

@@ -1,11 +1,28 @@
 package com.team766.robot.example;
 
+import com.team766.framework.AutonomousMode;
+import com.team766.framework.Procedure;
+import com.team766.hal.RobotConfigurator;
 import com.team766.robot.example.mechanisms.*;
 
-public class Robot {
-    // Declare mechanisms here
+public class Robot implements RobotConfigurator {
+    // Declare mechanisms (as static fields) here
+
+    public Robot() {}
 
     public static void robotInit() {
         // Initialize mechanisms here
     }
+
+    public void initializeMechanisms() {
+        robotInit();
+    }
+
+    public Procedure createOI() {
+        return new OI();
+    }
+
+    public AutonomousMode[] getAutonomousModes() {
+        return AutonomousModes.AUTONOMOUS_MODES;
+    }
 }

src/main/java/com/team766/robot/gatorade/Robot.java

@@ -1,17 +1,22 @@
 package com.team766.robot.gatorade;
 
+import com.team766.framework.AutonomousMode;
+import com.team766.framework.Procedure;
+import com.team766.hal.RobotConfigurator;
 import com.team766.robot.common.mechanisms.Drive;
 import com.team766.robot.gatorade.mechanisms.*;
 
-public class Robot {
-    // Declare mechanisms here
+public class Robot implements RobotConfigurator {
+    // Declare mechanisms (as static fields) here
     public static Intake intake;
     public static Wrist wrist;
     public static Elevator elevator;
     public static Shoulder shoulder;
     public static Drive drive;
     public static Lights lights;
 
+    public Robot() {}
+
     public static void robotInit() {
         // Initialize mechanisms here
         intake = new Intake();
@@ -21,4 +26,16 @@ public static void robotInit() {
         drive = new Drive();
         lights = new Lights();
     }
+
+    public void initializeMechanisms() {
+        robotInit();
+    }
+
+    public Procedure createOI() {
+        return new OI();
+    }
+
+    public AutonomousMode[] getAutonomousModes() {
+        return AutonomousModes.AUTONOMOUS_MODES;
+    }
 }