refactor(config): Use device-specific config appliers.

src/main/java/frc/lib/config/AbsoluteEncoderConfig.java

@@ -1,8 +1,5 @@
 package frc.lib.config;
 
-import com.ctre.phoenix6.configs.CANcoderConfiguration;
-import com.ctre.phoenix6.configs.MagnetSensorConfigs;
-import com.ctre.phoenix6.signals.SensorDirectionValue;
 import edu.wpi.first.math.geometry.Rotation2d;
 import java.util.Objects;
 
@@ -63,34 +60,4 @@ public AbsoluteEncoderConfig build() {
       return new AbsoluteEncoderConfig(ccwPositive, sensorToMechanismRatio, offset);
     }
   }
-
-  /**
-   * Creates Phoenix 6 magnet sensor configs.
-   *
-   * @return Phoenix 6 magnet sensor configs.
-   */
-  private MagnetSensorConfigs createMagnetSensorConfigs() {
-    final MagnetSensorConfigs magnetSensorConfigs = new MagnetSensorConfigs();
-
-    magnetSensorConfigs.MagnetOffset = offset().getRotations();
-    magnetSensorConfigs.SensorDirection =
-        ccwPositive()
-            ? SensorDirectionValue.CounterClockwise_Positive
-            : SensorDirectionValue.Clockwise_Positive;
-
-    return magnetSensorConfigs;
-  }
-
-  /**
-   * Creates a Phoenix 6 CANcoder config.
-   *
-   * @return a Phoenix 6 CANcoder config.
-   */
-  public CANcoderConfiguration createCANcoderConfig() {
-    final CANcoderConfiguration cancoderConfig = new CANcoderConfiguration();
-
-    cancoderConfig.MagnetSensor = createMagnetSensorConfigs();
-
-    return cancoderConfig;
-  }
 }

src/main/java/frc/lib/config/MotorConfig.java

@@ -1,10 +1,5 @@
 package frc.lib.config;
 
-import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
-import com.ctre.phoenix6.configs.MotorOutputConfigs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.signals.InvertedValue;
-import com.ctre.phoenix6.signals.NeutralModeValue;
 import java.util.Objects;
 
 /** Motor config. */
@@ -90,60 +85,4 @@ public MotorConfig build() {
           neutralBrake, ccwPositive, motorToMechanismRatio, statorCurrentLimit, supplyCurrentLimit);
     }
   }
-
-  /**
-   * Creates Phoenix 6 current limit configs.
-   *
-   * @return Phoenix 6 current limit configs.
-   */
-  private CurrentLimitsConfigs createCurrentLimitsConfigs() {
-    final CurrentLimitsConfigs currentLimitsConfigs = new CurrentLimitsConfigs();
-
-    // Stator current is a measure of the current inside of the motor and is typically higher than
-    // supply (breaker) current
-    currentLimitsConfigs.StatorCurrentLimit = statorCurrentLimit;
-    currentLimitsConfigs.StatorCurrentLimitEnable = true;
-
-    currentLimitsConfigs.SupplyCurrentLimit = supplyCurrentLimit;
-    // TODO Determine if spikes should be eliminated to preserve battery
-    // Allow higher current spikes (150%) for a very brief duration (tenth second)
-    currentLimitsConfigs.SupplyCurrentThreshold = supplyCurrentLimit * 1.5;
-    currentLimitsConfigs.SupplyTimeThreshold = 0.1;
-    currentLimitsConfigs.SupplyCurrentLimitEnable = true;
-
-    return currentLimitsConfigs;
-  }
-
-  /**
-   * Creates Phoenix 6 motor output configs.
-   *
-   * @return Phoenix 6 motor output configs.
-   */
-  private MotorOutputConfigs createMotorOutputConfigs() {
-    final MotorOutputConfigs motorOutputConfigs = new MotorOutputConfigs();
-
-    motorOutputConfigs.Inverted =
-        ccwPositive() ? InvertedValue.CounterClockwise_Positive : InvertedValue.Clockwise_Positive;
-    motorOutputConfigs.NeutralMode =
-        neutralBrake() ? NeutralModeValue.Brake : NeutralModeValue.Coast;
-
-    return motorOutputConfigs;
-  }
-
-  /**
-   * Creates a Phoenix 6 TalonFX config.
-   *
-   * @return a Phoenix 6 TalonFX config.
-   */
-  public TalonFXConfiguration createTalonFXConfig() {
-    final TalonFXConfiguration talonFXConfig = new TalonFXConfiguration();
-
-    talonFXConfig.MotorOutput = createMotorOutputConfigs();
-
-    talonFXConfig.CurrentLimits = createCurrentLimitsConfigs();
-
-    talonFXConfig.Feedback.SensorToMechanismRatio = motorToMechanismRatio();
-
-    return talonFXConfig;
-  }
 }

src/main/java/frc/lib/config/applier/CANcoderConfigApplier.java

@@ -0,0 +1,73 @@
+package frc.lib.config.applier;
+
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.CANcoderConfigurator;
+import com.ctre.phoenix6.configs.MagnetSensorConfigs;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.signals.SensorDirectionValue;
+import edu.wpi.first.wpilibj.DriverStation;
+import frc.lib.config.AbsoluteEncoderConfig;
+
+/** Applies CANcoder configs. */
+public class CANcoderConfigApplier extends ConfigApplier {
+
+  /**
+   * Reports to the user that a CANcoder failed configuration.
+   *
+   * @param cancoder the CANcoder.
+   */
+  private static void report(CANcoder cancoder) {
+    DriverStation.reportWarning(
+        "Failed to apply config to CANcoder with ID: " + cancoder.getDeviceID(), false);
+  }
+
+  /**
+   * Applies a factory default config to a CANcoder.
+   *
+   * @param cancoder the CANcoder.
+   */
+  public static void applyFactoryDefault(CANcoder cancoder) {
+    CANcoderConfiguration factoryDefaults = new CANcoderConfiguration();
+
+    CANcoderConfigurator configurator = cancoder.getConfigurator();
+
+    if (attempt(() -> configurator.apply(factoryDefaults)) == false) {
+      report(cancoder);
+    }
+  }
+
+  /**
+   * Creates the magnet sensor configs for the absolute encoder config.
+   *
+   * @param absoluteEncoderConfig the absolute encoder config.
+   * @return the created magnet sensor configs.
+   */
+  private static MagnetSensorConfigs createMagnetSensorConfigs(
+      AbsoluteEncoderConfig absoluteEncoderConfig) {
+    final MagnetSensorConfigs magnetSensorConfigs = new MagnetSensorConfigs();
+
+    magnetSensorConfigs.MagnetOffset = absoluteEncoderConfig.offset().getRotations();
+    magnetSensorConfigs.SensorDirection =
+        absoluteEncoderConfig.ccwPositive()
+            ? SensorDirectionValue.CounterClockwise_Positive
+            : SensorDirectionValue.Clockwise_Positive;
+
+    return magnetSensorConfigs;
+  }
+
+  /**
+   * Applies an absolute encoder config to a CANcoder.
+   *
+   * @param cancoder the CANcoder.
+   * @param absoluteEncoderConfig the absolute encoder config.
+   */
+  public static void apply(CANcoder cancoder, AbsoluteEncoderConfig absoluteEncoderConfig) {
+    MagnetSensorConfigs magnetSensorConfigs = createMagnetSensorConfigs(absoluteEncoderConfig);
+
+    CANcoderConfigurator configurator = cancoder.getConfigurator();
+
+    if (attempt(() -> configurator.apply(magnetSensorConfigs)) == false) {
+      report(cancoder);
+    }
+  }
+}

src/main/java/frc/lib/config/applier/ConfigApplier.java

@@ -0,0 +1,42 @@
+package frc.lib.config.applier;
+
+import com.ctre.phoenix6.StatusCode;
+import java.util.function.Function;
+import java.util.function.Supplier;
+
+/** Applies configs. */
+public class ConfigApplier {
+
+  /**
+   * Attempts to apply a config. Returns true if successful.
+   *
+   * @param applier a function that attempts to apply a config. Returns the result of the
+   *     application.
+   * @param isSuccess a function that returns true if the result of an application is a success.
+   * @param retries the number of unsuccessful attempts before failing.
+   * @return true if successful.
+   */
+  protected static <Result> boolean attempt(
+      Supplier<Result> applier, Function<Result, Boolean> isSuccess, int retries) {
+    for (int i = 0; i < retries; i++) {
+      Result result = applier.get();
+
+      if (isSuccess.apply(result)) {
+        return true;
+      }
+    }
+
+    return false;
+  }
+
+  /**
+   * Attempts to apply a Phoenix 6 config. Returns true if successful.
+   *
+   * @param applier a function that attempts to apply a config. Returns the result of the
+   *     application.
+   * @return true if successful.
+   */
+  protected static boolean attempt(Supplier<StatusCode> applier) {
+    return attempt(() -> applier.get(), StatusCode::isOK, 10);
+  }
+}

src/main/java/frc/lib/config/applier/Pigeon2ConfigApplier.java

@@ -0,0 +1,35 @@
+package frc.lib.config.applier;
+
+import com.ctre.phoenix6.configs.Pigeon2Configuration;
+import com.ctre.phoenix6.configs.Pigeon2Configurator;
+import com.ctre.phoenix6.hardware.Pigeon2;
+import edu.wpi.first.wpilibj.DriverStation;
+
+/** Applies Pigeon 2 configs. */
+public class Pigeon2ConfigApplier extends ConfigApplier {
+
+  /**
+   * Reports to the user that a Pigeon 2 failed configuration.
+   *
+   * @param pigeon2 the Pigeon 2.
+   */
+  private static void report(Pigeon2 pigeon2) {
+    DriverStation.reportWarning(
+        "Failed to apply config to Pigeon 2 with ID: " + pigeon2.getDeviceID(), false);
+  }
+
+  /**
+   * Applies a factory default config to a Pigeon 2.
+   *
+   * @param pigeon2 the Pigeon 2.
+   */
+  public static void applyFactoryDefault(Pigeon2 pigeon2) {
+    Pigeon2Configuration factoryDefaults = new Pigeon2Configuration();
+
+    Pigeon2Configurator configurator = pigeon2.getConfigurator();
+
+    if (attempt(() -> configurator.apply(factoryDefaults)) == false) {
+      report(pigeon2);
+    }
+  }
+}