fixed spark flexes

Author: timtogan

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

@@ -186,8 +186,10 @@ public static SparkFlex createSparkFlex(int id, SparkBaseConfig config) {
 
     return spark;
   }
-
-
+  /**
+   * @deprecated Use {@link #baseSparkMaxConfig()} instead.
+   */
+  @Deprecated // Probably should not be used as even though it technically returns a SparkBaseConfig, it can only be used a SparkMaxConfig, and so it does essentially the same thing as baseSparkMaxConfig
   public static SparkBaseConfig baseSparkConfig() {
     SparkMaxConfig config = new SparkMaxConfig();
 
@@ -206,7 +208,9 @@ public static SparkBaseConfig baseSparkConfig() {
   }
   /**
    * Overrides an old config - but does not change other settings.
+   * @deprecated Use {@link #baseSparkMaxConfig(SparkMaxConfig)} instead.
    */
+  @Deprecated // Probably should not be used as even though it technically returns a SparkBaseConfig, it can only be used a SparkMaxConfig, and so it does essentially the same thing as baseSparkMaxConfig
   public static SparkBaseConfig baseSparkConfig(SparkMaxConfig config) {
     config.idleMode(IdleMode.kBrake);
 
@@ -226,20 +230,68 @@ public static SparkBaseConfig baseSparkConfig(SparkMaxConfig config) {
    */
   public static SparkMaxConfig baseSparkMaxConfig(SparkMaxConfig config){
     //typical operating voltage: 12V.
-    return (SparkMaxConfig) baseSparkConfig(config);//FIXME apply needed config changes for each controller
+    config.idleMode(IdleMode.kBrake);
+    
+    config.voltageCompensation(12);//FIXME does this need to be different for different motors?
+    config.smartCurrentLimit(50);
+    
+    config.closedLoop
+      .minOutput(-1)
+      .maxOutput(1)
+      .pid(0,0,0)
+      .velocityFF(0);
+
+    return config;
   }
   public static SparkMaxConfig baseSparkMaxConfig(){
-    return (SparkMaxConfig) baseSparkConfig();
+    SparkMaxConfig config = new SparkMaxConfig();
+
+    config.idleMode(IdleMode.kBrake);
+    
+    config.voltageCompensation(12);//FIXME does this need to be different for different motors?
+    config.smartCurrentLimit(50);
+    
+    config.closedLoop
+      .minOutput(-1)
+      .maxOutput(1)
+      .pid(0,0,0)
+      .velocityFF(0);
+
+    return config;
   }
   /**
    * Overrides an old config - but does not change other settings.
    */
-  public static SparkFlexConfig baseSparkFlexConfig(SparkMaxConfig config){
+  public static SparkFlexConfig baseSparkFlexConfig(SparkFlexConfig config){
     //typical operating voltage: 12V. ( same as sparkMax )
-    return (SparkFlexConfig) baseSparkConfig(config);//criminal casting usage
+      config.idleMode(IdleMode.kBrake);
+    
+    config.voltageCompensation(12);//FIXME does this need to be different for different motors?
+    config.smartCurrentLimit(50);
+    
+    config.closedLoop
+      .minOutput(-1)
+      .maxOutput(1)
+      .pid(0,0,0)
+      .velocityFF(0);
+
+    return config;
   }
   public static SparkFlexConfig baseSparkFlexConfig(){//why? no Se.
-    return (SparkFlexConfig) baseSparkConfig();
+    SparkFlexConfig config = new SparkFlexConfig();
+
+    config.idleMode(IdleMode.kBrake);
+    
+    config.voltageCompensation(12);//FIXME does this need to be different for different motors?
+    config.smartCurrentLimit(50);
+    
+    config.closedLoop
+      .minOutput(-1)
+      .maxOutput(1)
+      .pid(0,0,0)
+      .velocityFF(0);
+
+    return config;
   }
 
   /**