Until Vortex support is added to lib199, immediately after constructing the controller, put it in a known state and then set any relevant configuration parameters (e.g. voltage compensation, the smart current limit, etc). You can largely just copy this code:
Until Vortex support is added to lib199, immediately after constructing the controller, put it in a known state and then set any relevant configuration parameters (e.g. voltage compensation, the smart current limit, etc). You can largely just copy this code:
https://github.com/DeepBlueRobotics/lib199/blob/cc93080eab462da161d0d47eda253ac8b31495ee/src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java#L125-L138
The following code should be motor/controller-agnostic whenever possible so that minimal changes are required when changing motors/controllers.
https://github.com/DeepBlueRobotics/RobotCode2024/blob/53130a788cdb399e5555eab7da87c1ba01984c3e/src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java#L41
Specifically, that means:
CANSparkBaseinstead ofCANSparkVortexas the type.outtakeMotorinstead ofoutakeVortexMotor.