fix rio fx's

Author: mwitcpalek

src/main/kotlin/org/strykeforce/thirdcoast/Koin.kt

@@ -46,7 +46,7 @@ val tctModule = module {
 
     single { LegacyTalonFxService(get()) { id -> TalonFX(id) } }
 
-    single { TalonFxService(get()) { id -> com.ctre.phoenix6.hardware.TalonFX(id, "rio")} }
+    single { TalonFxService(get()) { id -> com.ctre.phoenix6.hardware.TalonFX(id)} }
 
     single {TalonFxFDService(get()) {id -> com.ctre.phoenix6.hardware.TalonFX(id, "*")} }
 

src/main/kotlin/org/strykeforce/thirdcoast/cancoder/SelectAbsRangeValueCommand.kt

@@ -42,7 +42,7 @@ class SelectAbsRangeValueCommand(
         if(bus == "rio") {
             cancoderService.activeConfiguration.MagnetSensor.AbsoluteSensorRange = range
             cancoderService.active.forEach{it.configurator.apply(cancoderService.activeConfiguration)}
-        } else if(bus == "caniover") {
+        } else if(bus == "canivore") {
             cancoderFDService.activeConfiguration.MagnetSensor.AbsoluteSensorRange = range
             cancoderFDService.active.forEach { it.configurator.apply(cancoderFDService.activeConfiguration.MagnetSensor) }
         }

src/main/kotlin/org/strykeforce/thirdcoast/cancoder/SelectCancoderSensorDirectionCommand.kt

@@ -10,13 +10,13 @@ import org.strykeforce.thirdcoast.device.CancoderFDService
 import org.strykeforce.thirdcoast.device.CancoderService
 
 private val DIRECTION = listOf(
-    Clockwise_Positive,
-    CounterClockwise_Positive
+    CounterClockwise_Positive,
+    Clockwise_Positive
 )
 
 private val LABELS = listOf(
-    "Clockwise Positive",
-    "Counter-clockwise Positive"
+    "Counter-clockwise Positive",
+    "Clockwise Positive"
 )
 
 class SelectCancoderSensorDirectionCommand(

src/main/kotlin/org/strykeforce/thirdcoast/device/DeviceService.kt

@@ -32,13 +32,13 @@ open class AbstractDeviceService<T>(private val factory: (id: Int) -> T) :
 
     override fun get(id: Int): T {
         val device = _all[id] ?: factory(id)
-        if (_all.put(id, device) == null) logger.debug("_all add: {}", device)
+        if (_all.put(id, device) == null) logger.debug("_all add: {}, id: {}", device, id)
         return device
     }
 
     fun get(id: Int, bus: String): T {
         val device = _all[id] ?: factory(id)
-        if(_all.put(id, device) == null) logger.debug("_all add: {}", device)
+        if(_all.put(id, device) == null) logger.debug("_all add: {}, id: {}", device, id)
         return  device
     }
 

src/main/kotlin/org/strykeforce/thirdcoast/device/TalonFxService.kt

@@ -189,14 +189,14 @@ open class TalonFxService(
             return field
         }
 
-    override fun activate(ids: Collection<Int>, bus: String): Set<Int> {
+    override fun activate(ids: Collection<Int>): Set<Int> {
         dirty = true
         logger.info { "Number Active: ${active.size}" }
         active.forEach{
             logger.info { "Active TalonFX: ${it.deviceID}" }
         }
 
-        val new = super.activate(ids, bus)
+        val new = super.activate(ids)
         logger.info { "Number New: ${new.size}" }
         telemetryService.stop()
         active.filter { new.contains(it.deviceID) }.forEach{

src/main/kotlin/org/strykeforce/thirdcoast/talon/phoenix6/P6SelectTalonsCommand.kt

@@ -1,6 +1,7 @@
 package org.strykeforce.thirdcoast.talon.phoenix6
 
 import com.ctre.phoenix6.hardware.TalonFX
+import mu.KotlinLogging
 import net.consensys.cava.toml.TomlTable
 import org.koin.standalone.inject
 import org.strykeforce.thirdcoast.command.AbstractCommand
@@ -18,6 +19,8 @@ class P6SelectTalonsCommand(
     toml: TomlTable
 ): AbstractCommand(parent, key, toml) {
 
+    private val logger = KotlinLogging.logger {}
+
     private val talonFxService: TalonFxService by inject()
     private val talonFxFDService: TalonFxFDService by inject()
 
@@ -37,15 +40,25 @@ class P6SelectTalonsCommand(
                 var ids: List<Int>
                 var new: Set<Int>
 
-                ids = reader.readIntList(this.prompt("ids"), talonFxService.active.map(TalonFX::getDeviceID))
+                if(bus == "rio") {
+                    ids = reader.readIntList(this.prompt("ids"), talonFxService.active.map(TalonFX::getDeviceID))
+                    logger.info("IDS: ${ids}")
+                    new = talonFxService.activate(ids)
+                } else if(bus == "canivore") {
+                    ids = reader.readIntList(this.prompt("ids"), talonFxFDService.active.map(TalonFX::getDeviceID))
+                    logger.info("IDS: ${ids}")
+                    new = talonFxFDService.activate(ids)
+                } else throw IllegalArgumentException()
 
-                new =
-                    if(bus == "rio") talonFxService.activate(ids)
-                    else if(bus == "canivore") talonFxFDService.activate(ids)
-                    else throw IllegalArgumentException()
+//                ids = reader.readIntList(this.prompt("ids"), talonFxService.active.map(TalonFX::getDeviceID))
+//
+//                new =
+//                    if(bus == "rio") talonFxService.activate(ids)
+//                    else if(bus == "canivore") talonFxFDService.activate(ids)
+//                    else throw IllegalArgumentException()
 
                 if(new.isNotEmpty()) {
-                    terminal.info("Activating talons: ${new.joinToString()}")
+                    logger.info("Activating talons: ${new.joinToString()}")
                 }
                 return super.execute()
             } catch(e: IllegalArgumentException) {