REV Motor IO Layer

.github/instructions/default.instructions.md

@@ -1,6 +1,6 @@
 # FRC Team W8 Library - AI Assistant Instructions
 
-You are a senior Java engineer with 10+ years of experience. You are helping high school students on an FRC (FIRST Robotics Competition) team. Write clear, educational code that students can learn from and maintain.
+You are a sr Java engineer with 10+ years of experience. You are helping high school students on an FRC (FIRST Robotics Competition) team. Write clear, educational code that students can learn from and maintain.
 
 ## Technology Stack
 

src/main/java/frc/lib/devices/ObjectDetection.java

@@ -6,16 +6,16 @@
 
 import org.littletonrobotics.junction.Logger;
 import java.util.ArrayList;
-import frc.lib.io.objectdetection.ObjectDetectionIO;
-import frc.lib.io.objectdetection.ObjectDetectionIOInputsAutoLogged;
-import frc.lib.io.objectdetection.ObjectDetectionIO.TargetObservation;
 import java.util.Arrays;
 import java.lang.Math;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
+import frc.lib.io.objectdetection.ObjectDetectionIOInputsAutoLogged;
+import frc.lib.io.objectdetection.ObjectDetectionIO;
+import frc.lib.io.objectdetection.ObjectDetectionIO.TargetObservation;
 
 /**
  * Device level implementation of an object detection camera. While the IO layer is responsible for

src/main/java/frc/lib/io/motor/MotorIO.java

@@ -21,6 +21,7 @@
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.Volts;
 
+import org.apache.commons.lang3.NotImplementedException;
 import org.littletonrobotics.junction.AutoLog;
 
 import edu.wpi.first.units.AngularAccelerationUnit;
@@ -97,7 +98,7 @@ abstract class MotorInputs {
      */
     public default String getName()
     {
-        return "";
+        throw new NotImplementedException("This method has not been implemented");
     }
 
     /**
@@ -107,35 +108,45 @@ public default String getName()
      * @param inputs The structure to populate with updated sensor values.
      */
     public default void updateInputs(MotorInputs inputs)
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
 
     /**
      * Sets the motor to coast mode.
      */
     public default void runCoast()
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
 
     /**
      * Sets the motor to brake mode.
      */
     public default void runBrake()
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
 
     /**
      * Runs the motor using direct voltage control.
      *
      * @param voltage Desired voltage output.
      */
     public default void runVoltage(Voltage voltage)
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
 
     /**
      * Runs the motor with a specified current output.
      *
      * @param current Desired torque-producing current.
      */
     public default void runCurrent(Current current)
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
 
     /**
      * Runs the motor with a specified current output and duty cycle.
@@ -144,15 +155,19 @@ public default void runCurrent(Current current)
      * @param dutyCycle Desired dutycycle of current output, limiting top speed
      */
     public default void runCurrent(Current current, double dutyCycle)
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
 
     /**
      * Runs the motor using duty cycle (percentage of available voltage).
      *
      * @param dutyCycle Fractional output between 0 and 1.
      */
     public default void runDutyCycle(double dutyCycle)
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
 
     /**
      * Runs the motor to a specific position.
@@ -166,7 +181,20 @@ public default void runDutyCycle(double dutyCycle)
     public default void runPosition(Angle position, AngularVelocity cruiseVelocity,
         AngularAcceleration acceleration,
         Velocity<AngularAccelerationUnit> maxJerk, PIDSlot slot)
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
+
+    /**
+     * Runs the motor to a specific position.
+     *
+     * @param position Target position.
+     * @param slot PID slot index.
+     */
+    public default void runPosition(Angle position, PIDSlot slot)
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
 
     /**
      * Runs the motor at a target velocity.
@@ -177,13 +205,37 @@ public default void runPosition(Angle position, AngularVelocity cruiseVelocity,
      */
     public default void runVelocity(AngularVelocity velocity, AngularAcceleration acceleration,
         PIDSlot slot)
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
+
+    /**
+     * Runs the motor at a target velocity.
+     *
+     * @param velocity Desired velocity.
+     * @param slot PID slot index.
+     */
+    public default void runVelocity(AngularVelocity velocity, PIDSlot slot)
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
 
     /**
      * Sets the position of the motor's internal encoder
      * 
      * @param position Desired position to set encoder to
      */
     public default void setEncoderPosition(Angle position)
-    {}
+    {
+        throw new NotImplementedException("This method has not been implemented");
+    }
+
+    /**
+     * Closes and cleans up motor controller resources. Called when the motor is no longer needed to
+     * properly release hardware.
+     */
+    public default void close()
+    {
+        // Default implementation does nothing for interfaces that don't need cleanup
+    }
 }