refactor(config): Rename configurator to config applier.

Author: haydenheroux

Diff for: src/main/java/frc/lib/config/ConfigApplier.java

@@ -0,0 +1,79 @@
+package frc.lib.config;
+
+import com.ctre.phoenix6.StatusCode;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.CANcoderConfigurator;
+import com.ctre.phoenix6.configs.Pigeon2Configuration;
+import com.ctre.phoenix6.configs.Pigeon2Configurator;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.configs.TalonFXConfigurator;
+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.
+   */
+  private static <Result> boolean apply(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.
+   */
+  private static boolean apply(Supplier<StatusCode> applier) {
+    return apply(() -> applier.get(), StatusCode::isOK, 10);
+  }
+
+  /**
+   * Configures a CANcoder.
+   *
+   * @param configurator the CANcoder's configurator.
+   * @param config the config to apply.
+   */
+  public static void configureCANcoder(
+      CANcoderConfigurator configurator, CANcoderConfiguration config) {
+    apply(() -> configurator.apply(config));
+  }
+
+  /**
+   * Configures a TalonFX.
+   *
+   * @param configurator the TalonFX's configurator.
+   * @param config the config to apply.
+   */
+  public static void configureTalonFX(
+      TalonFXConfigurator configurator, TalonFXConfiguration config) {
+    apply(() -> configurator.apply(config));
+  }
+
+  /**
+   * Configures a Pigeon 2.
+   *
+   * @param configurator the Pigeon 2's configurator.
+   * @param config the config to apply.
+   */
+  public static void configurePigeon2(
+      Pigeon2Configurator configurator, Pigeon2Configuration config) {
+    apply(() -> configurator.apply(config));
+  }
+
+}

Diff for: src/main/java/frc/lib/config/Configurator.java

@@ -11,7 +11,7 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.util.Units;
 import frc.lib.CAN;
-import frc.lib.config.Configurator;
+import frc.lib.config.ConfigApplier;
 import frc.lib.config.MechanismConfig;
 
 /** Position controller using two TalonFXs and a CANcoder and an external PIDF for an arm. */
@@ -79,12 +79,12 @@ public void configure() {
 
     ParentDevice.optimizeBusUtilizationForAll(leaderMotor, followerMotor, encoder);
 
-    Configurator.configureTalonFX(
+    ConfigApplier.configureTalonFX(
         leaderMotor.getConfigurator(), config.motorConfig().createTalonFXConfig());
-    Configurator.configureTalonFX(
+    ConfigApplier.configureTalonFX(
         followerMotor.getConfigurator(), config.motorConfig().createTalonFXConfig());
 
-    Configurator.configureCANcoder(
+    ConfigApplier.configureCANcoder(
         encoder.getConfigurator(), config.absoluteEncoderConfig().createCANcoderConfig());
   }
 

Diff for: src/main/java/frc/lib/controller/PositionControllerIOTalonFX2.java

@@ -9,7 +9,7 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import frc.lib.CAN;
-import frc.lib.config.Configurator;
+import frc.lib.config.ConfigApplier;
 import frc.lib.config.MechanismConfig;
 
 /** Creates a new position controller using a steer TalonFX and azimuth CANcoder. */
@@ -59,10 +59,10 @@ public void configure() {
 
     ParentDevice.optimizeBusUtilizationForAll(steer, azimuth);
 
-    Configurator.configureTalonFX(
+    ConfigApplier.configureTalonFX(
         steer.getConfigurator(), config.motorConfig().createTalonFXConfig());
 
-    Configurator.configureCANcoder(
+    ConfigApplier.configureCANcoder(
         azimuth.getConfigurator(), config.absoluteEncoderConfig().createCANcoderConfig());
   }
 

Diff for: src/main/java/frc/lib/controller/PositionControllerIOTalonFXSteer.java

@@ -5,7 +5,7 @@
 import com.ctre.phoenix6.hardware.ParentDevice;
 import com.ctre.phoenix6.hardware.TalonFX;
 import frc.lib.CAN;
-import frc.lib.config.Configurator;
+import frc.lib.config.ConfigApplier;
 import frc.lib.config.MechanismConfig;
 
 /** Velocity controller using TalonFX. */
@@ -40,7 +40,7 @@ public void configure() {
 
     ParentDevice.optimizeBusUtilizationForAll(motor);
 
-    Configurator.configureTalonFX(
+    ConfigApplier.configureTalonFX(
         motor.getConfigurator(), config.motorConfig().createTalonFXConfig());
   }
 

Diff for: src/main/java/frc/lib/controller/VelocityControllerIOTalonFX.java

@@ -5,7 +5,7 @@
 import com.ctre.phoenix6.configs.Pigeon2Configuration;
 import com.ctre.phoenix6.hardware.Pigeon2;
 import edu.wpi.first.math.util.Units;
-import frc.lib.config.Configurator;
+import frc.lib.config.ConfigApplier;
 
 /** Pigeon 2 gyroscope. */
 public class GyroscopeIOPigeon2 implements GyroscopeIO {
@@ -30,7 +30,7 @@ public GyroscopeIOPigeon2() {
 
   @Override
   public void configure() {
-    Configurator.configurePigeon2(gyroscope.getConfigurator(), new Pigeon2Configuration());
+    ConfigApplier.configurePigeon2(gyroscope.getConfigurator(), new Pigeon2Configuration());
   }
 
   @Override