Lazy victor (#19)

* added victor wrapper

* increment version

Author: BBScholar

build.gradle

@@ -29,7 +29,7 @@ dependencies {
 }
 
 group = 'org.team5499'
-version = '2.0.0'
+version = '2.1.0'
 
 task sourcesJar(type: Jar) {
     from sourceSets.main.allJava

src/main/kotlin/org/team5499/monkeyLib/hardware/LazyVictorSPX.kt

@@ -0,0 +1,44 @@
+package org.team5499.monkeyLib.hardware
+
+import com.ctre.phoenix.motorcontrol.can.VictorSPX
+import com.ctre.phoenix.motorcontrol.ControlMode
+import com.ctre.phoenix.motorcontrol.DemandType
+import com.ctre.phoenix.motorcontrol.NeutralMode
+
+class LazyVictorSPX(deviceNumber: Int) : VictorSPX(deviceNumber) {
+
+    private var lastSet = Double.NaN
+    private var lastSecondarySet = Double.NaN
+    private var lastControlMode: ControlMode? = null
+    private var lastDemandType: DemandType? = null
+    private var lastBrakeMode: NeutralMode? = null
+
+    public override fun set(mode: ControlMode, value: Double) {
+        if (value != lastSet || mode != lastControlMode) {
+            lastSet = value
+            lastControlMode = mode
+            lastSecondarySet = Double.NaN
+            lastDemandType = null
+            super.set(mode, value)
+        }
+    }
+
+    public override fun set(mode: ControlMode, value0: Double, demandType: DemandType, value1: Double) {
+        @Suppress("ComplexCondition")
+        if (value0 != lastSet || mode != lastControlMode ||
+            demandType != lastDemandType || value1 != lastSecondarySet) {
+            lastSet = value0
+            lastControlMode = mode
+            lastDemandType = demandType
+            lastSecondarySet = value1
+            super.set(mode, value0, demandType, value1)
+        }
+    }
+
+    public override fun setNeutralMode(brakeMode: NeutralMode) {
+        if (lastBrakeMode != brakeMode) {
+            lastBrakeMode = brakeMode
+            super.setNeutralMode(brakeMode)
+        }
+    }
+}