refactor(config): Use method calls for values.

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

@@ -4,25 +4,26 @@
 public class MechanismConfig {
 
   /** Absolute encoder config. */
-  public AbsoluteEncoderConfig absoluteEncoder = new AbsoluteEncoderConfig();
+  private AbsoluteEncoderConfig absoluteEncoderConfig = new AbsoluteEncoderConfig();
 
   /** Feedback controller config. */
-  public FeedbackControllerConfig feedback = new FeedbackControllerConfig();
+  private FeedbackControllerConfig feedbackControllerConfig = new FeedbackControllerConfig();
 
   /** Feedforward controller config. */
-  public FeedforwardControllerConfig feedforward = new FeedforwardControllerConfig();
+  private FeedforwardControllerConfig feedforwardControllerConfig =
+      new FeedforwardControllerConfig();
 
   /** Motor config. */
-  public MotorConfig motor = new MotorConfig();
+  private MotorConfig motorConfig = new MotorConfig();
 
   /**
    * Modifies this mechanism config to use the absolute encoder config.
    *
    * @param absoluteEncoderConfig the absolute encoder config.
    * @return this mechanism config.
    */
-  public MechanismConfig withAbsoluteEncoder(AbsoluteEncoderConfig absoluteEncoderConfig) {
-    this.absoluteEncoder = absoluteEncoderConfig;
+  public MechanismConfig withAbsoluteEncoderConfig(AbsoluteEncoderConfig absoluteEncoderConfig) {
+    this.absoluteEncoderConfig = absoluteEncoderConfig;
     return this;
   }
 
@@ -32,8 +33,8 @@ public MechanismConfig withAbsoluteEncoder(AbsoluteEncoderConfig absoluteEncoder
    * @param feedbackControllerConfig the feedback controller config.
    * @return this mechanism config.
    */
-  public MechanismConfig withFeedback(FeedbackControllerConfig feedbackControllerConfig) {
-    this.feedback = feedbackControllerConfig;
+  public MechanismConfig withFeedbackConfig(FeedbackControllerConfig feedbackControllerConfig) {
+    this.feedbackControllerConfig = feedbackControllerConfig;
     return this;
   }
 
@@ -43,8 +44,9 @@ public MechanismConfig withFeedback(FeedbackControllerConfig feedbackControllerC
    * @param feedforwardControllerConfig the feedforward controller config.
    * @return this mechanism config.
    */
-  public MechanismConfig withFeedforward(FeedforwardControllerConfig feedforwardControllerConfig) {
-    this.feedforward = feedforwardControllerConfig;
+  public MechanismConfig withFeedforwardConfig(
+      FeedforwardControllerConfig feedforwardControllerConfig) {
+    this.feedforwardControllerConfig = feedforwardControllerConfig;
     return this;
   }
 
@@ -54,8 +56,44 @@ public MechanismConfig withFeedforward(FeedforwardControllerConfig feedforwardCo
    * @param motorConfig the motor config.
    * @return this mechanism config.
    */
-  public MechanismConfig withMotor(MotorConfig motorConfig) {
-    this.motor = motorConfig;
+  public MechanismConfig withMotorConfig(MotorConfig motorConfig) {
+    this.motorConfig = motorConfig;
     return this;
   }
+
+  /**
+   * Returns the absolute encoder config.
+   *
+   * @return the absolute encoder config.
+   */
+  public AbsoluteEncoderConfig absoluteEncoderConfig() {
+    return absoluteEncoderConfig;
+  }
+
+  /**
+   * Returns the feedback controller config.
+   *
+   * @return the feedback controller config.
+   */
+  public FeedbackControllerConfig feedbackControllerConfig() {
+    return feedbackControllerConfig;
+  }
+
+  /**
+   * Returns the feedforward controller config.
+   *
+   * @return the feedforward controller config.
+   */
+  public FeedforwardControllerConfig feedforwardControllerConfig() {
+    return feedforwardControllerConfig;
+  }
+
+  /**
+   * Returns the motor config.
+   *
+   * @return the motor config.
+   */
+  public MotorConfig motorConfig() {
+    return motorConfig;
+  }
 }

src/main/java/frc/lib/controller/PositionControllerIOTalonFX2.java

@@ -69,9 +69,9 @@ public PositionControllerIOTalonFX2(
     volts = leaderMotor.getMotorVoltage();
     amps = leaderMotor.getStatorCurrent();
 
-    feedforward = config.feedforward.createArmFeedforward();
+    feedforward = config.feedforwardControllerConfig().createArmFeedforward();
 
-    feedback = config.feedback.createPIDController();
+    feedback = config.feedbackControllerConfig().createPIDController();
 
     followerMotor.setControl(new Follower(leaderMotor.getDeviceID(), invertFollower));
 
@@ -87,34 +87,36 @@ public void configure() {
     TalonFXConfiguration motorConfig = new TalonFXConfiguration();
 
     motorConfig.MotorOutput.Inverted =
-        config.motor.ccwPositive()
+        config.motorConfig().ccwPositive()
             ? InvertedValue.CounterClockwise_Positive
             : InvertedValue.Clockwise_Positive;
     motorConfig.MotorOutput.NeutralMode =
-        config.motor.neutralBrake() ? NeutralModeValue.Brake : NeutralModeValue.Coast;
+        config.motorConfig().neutralBrake() ? NeutralModeValue.Brake : NeutralModeValue.Coast;
 
     // Stator current is a measure of the current inside of the motor and is typically higher than
     // supply (breaker) current
-    motorConfig.CurrentLimits.StatorCurrentLimit = config.motor.currentLimitAmps() * 2.0;
+    motorConfig.CurrentLimits.StatorCurrentLimit = config.motorConfig().currentLimitAmps() * 2.0;
     motorConfig.CurrentLimits.StatorCurrentLimitEnable = true;
 
-    motorConfig.CurrentLimits.SupplyCurrentLimit = config.motor.currentLimitAmps();
+    motorConfig.CurrentLimits.SupplyCurrentLimit = config.motorConfig().currentLimitAmps();
     // Allow higher current spikes (150%) for a brief duration (one second)
     // REV 40A auto-resetting breakers typically trip when current exceeds 300% for one second
-    motorConfig.CurrentLimits.SupplyCurrentThreshold = config.motor.currentLimitAmps() * 1.5;
+    motorConfig.CurrentLimits.SupplyCurrentThreshold =
+        config.motorConfig().currentLimitAmps() * 1.5;
     motorConfig.CurrentLimits.SupplyTimeThreshold = 1;
     motorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
 
-    motorConfig.Feedback.SensorToMechanismRatio = config.motor.motorToMechanismRatio();
+    motorConfig.Feedback.SensorToMechanismRatio = config.motorConfig().motorToMechanismRatio();
 
     Configurator.configureTalonFX(leaderMotor.getConfigurator(), motorConfig);
     Configurator.configureTalonFX(followerMotor.getConfigurator(), motorConfig);
 
     CANcoderConfiguration encoderConfig = new CANcoderConfiguration();
 
-    encoderConfig.MagnetSensor.MagnetOffset = config.absoluteEncoder.offset().getRotations();
+    encoderConfig.MagnetSensor.MagnetOffset =
+        config.absoluteEncoderConfig().offset().getRotations();
     encoderConfig.MagnetSensor.SensorDirection =
-        config.absoluteEncoder.ccwPositive()
+        config.absoluteEncoderConfig().ccwPositive()
             ? SensorDirectionValue.CounterClockwise_Positive
             : SensorDirectionValue.Clockwise_Positive;
 

src/main/java/frc/lib/controller/VelocityControllerIOTalonFX.java

@@ -45,25 +45,26 @@ public void configure() {
     TalonFXConfiguration motorConfig = new TalonFXConfiguration();
 
     motorConfig.MotorOutput.Inverted =
-        config.motor.ccwPositive()
+        config.motorConfig().ccwPositive()
             ? InvertedValue.CounterClockwise_Positive
             : InvertedValue.Clockwise_Positive;
     motorConfig.MotorOutput.NeutralMode =
-        config.motor.neutralBrake() ? NeutralModeValue.Brake : NeutralModeValue.Coast;
+        config.motorConfig().neutralBrake() ? NeutralModeValue.Brake : NeutralModeValue.Coast;
 
     // Stator current is a measure of the current inside of the motor and is typically higher than
     // supply (breaker) current
-    motorConfig.CurrentLimits.StatorCurrentLimit = config.motor.currentLimitAmps() * 2.0;
+    motorConfig.CurrentLimits.StatorCurrentLimit = config.motorConfig().currentLimitAmps() * 2.0;
     motorConfig.CurrentLimits.StatorCurrentLimitEnable = true;
 
-    motorConfig.CurrentLimits.SupplyCurrentLimit = config.motor.currentLimitAmps();
+    motorConfig.CurrentLimits.SupplyCurrentLimit = config.motorConfig().currentLimitAmps();
     // Allow higher current spikes (150%) for a brief duration (one second)
     // REV 40A auto-resetting breakers typically trip when current exceeds 300% for one second
-    motorConfig.CurrentLimits.SupplyCurrentThreshold = config.motor.currentLimitAmps() * 1.5;
+    motorConfig.CurrentLimits.SupplyCurrentThreshold =
+        config.motorConfig().currentLimitAmps() * 1.5;
     motorConfig.CurrentLimits.SupplyTimeThreshold = 1;
     motorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
 
-    motorConfig.Feedback.SensorToMechanismRatio = config.motor.motorToMechanismRatio();
+    motorConfig.Feedback.SensorToMechanismRatio = config.motorConfig().motorToMechanismRatio();
 
     Configurator.configureTalonFX(motor.getConfigurator(), motorConfig);
   }

src/main/java/frc/lib/controller/VelocityControllerIOTalonFXPIDF.java

@@ -25,9 +25,9 @@ public class VelocityControllerIOTalonFXPIDF extends VelocityControllerIOTalonFX
   public VelocityControllerIOTalonFXPIDF(CAN can, MechanismConfig config, boolean enableFOC) {
     super(can, config);
 
-    feedforward = config.feedforward.createSimpleMotorFeedforward();
+    feedforward = config.feedforwardControllerConfig().createSimpleMotorFeedforward();
 
-    feedback = config.feedback.createPIDController();
+    feedback = config.feedbackControllerConfig().createPIDController();
 
     voltage = new VoltageOut(0.0).withEnableFOC(enableFOC);
   }

src/main/java/frc/robot/arm/ArmConstants.java

@@ -27,22 +27,22 @@ public static class ShoulderConstants {
     /** Shoulder's config. */
     public static final MechanismConfig CONFIG =
         new MechanismConfig()
-            .withAbsoluteEncoder(
+            .withAbsoluteEncoderConfig(
                 new AbsoluteEncoderConfig()
                     .withCCWPositive(false)
                     .withOffset(Rotation2d.fromDegrees(-173.135)))
-            .withMotor(
+            .withMotorConfig(
                 new MotorConfig()
                     .withCCWPositive(true)
                     .withNeutralBrake(true)
                     .withMotorToMechanismRatio(39.771428571))
-            .withFeedforward(
+            .withFeedforwardConfig(
                 new FeedforwardControllerConfig()
                     .withStaticFeedforward(0.14) // volts
                     .withGravityFeedforward(0.5125) // volts
                     .withVelocityFeedforward(4.0) // volts per rotation per second
                 )
-            .withFeedback(
+            .withFeedbackConfig(
                 new FeedbackControllerConfig().withProportionalGain(4.0) // volts per rotation
                 );
 

src/main/java/frc/robot/intake/IntakeConstants.java

@@ -16,17 +16,17 @@ public static class FrontRollerConstants {
     /** Front roller's config. */
     public static final MechanismConfig CONFIG =
         new MechanismConfig()
-            .withMotor(
+            .withMotorConfig(
                 new MotorConfig()
                     .withCCWPositive(false)
                     .withNeutralBrake(false)
                     .withMotorToMechanismRatio(24.0 / 16.0))
-            .withFeedforward(
+            .withFeedforwardConfig(
                 new FeedforwardControllerConfig()
                     .withStaticFeedforward(0.13) // volts
                     .withVelocityFeedforward(0.1683) // volts per rotation per second
                 )
-            .withFeedback(
+            .withFeedbackConfig(
                 new FeedbackControllerConfig()
                     .withProportionalGain(0.1) // volts per rotation per second
                 );
@@ -48,17 +48,17 @@ public static class BackRollerConstants {
 
     public static final MechanismConfig CONFIG =
         new MechanismConfig()
-            .withMotor(
+            .withMotorConfig(
                 new MotorConfig()
                     .withCCWPositive(false)
                     .withNeutralBrake(false)
                     .withMotorToMechanismRatio(24.0 / 16.0))
-            .withFeedforward(
+            .withFeedforwardConfig(
                 new FeedforwardControllerConfig()
                     .withStaticFeedforward(0.13) // volts
                     .withVelocityFeedforward(0.1759) // volts per rotation per second
                 )
-            .withFeedback(
+            .withFeedbackConfig(
                 new FeedbackControllerConfig()
                     .withProportionalGain(0.1) // volts per rotation per second
                 );

src/main/java/frc/robot/shooter/ShooterConstants.java

@@ -19,12 +19,12 @@ public static class SerializerConstants {
     /** Serializer's config. */
     public static final MechanismConfig PIDF_CONTROLLER_CONSTANTS =
         new MechanismConfig()
-            .withMotor(
+            .withMotorConfig(
                 new MotorConfig()
                     .withCCWPositive(true)
                     .withNeutralBrake(false)
                     .withMotorToMechanismRatio(36.0 / 16.0))
-            .withFeedforward(
+            .withFeedforwardConfig(
                 new FeedforwardControllerConfig()
                     .withStaticFeedforward(0.14) // volts
                     .withVelocityFeedforward(0.2617) // volts per rotation per second
@@ -59,17 +59,17 @@ public static class FlywheelConstants {
     /** Flywheel's config. */
     public static final MechanismConfig CONFIG =
         new MechanismConfig()
-            .withMotor(
+            .withMotorConfig(
                 new MotorConfig()
                     .withCCWPositive(false)
                     .withNeutralBrake(true)
                     .withMotorToMechanismRatio(28.0 / 16.0))
-            .withFeedforward(
+            .withFeedforwardConfig(
                 new FeedforwardControllerConfig()
                     .withStaticFeedforward(0.14) // volts
                     .withVelocityFeedforward(0.2) // volts per rotation per second
                 )
-            .withFeedback(
+            .withFeedbackConfig(
                 new FeedbackControllerConfig()
                     .withProportionalGain(0.14) // volts per rotation per second
                 );

src/main/java/frc/robot/swerve/DriveMotorIOTalonFXPID.java

@@ -30,9 +30,12 @@ public DriveMotorIOTalonFXPID(CAN can) {
     super(can);
 
     velocityFeedforward =
-        SwerveConstants.DRIVE_PIDF_CONSTANTS.feedforward.createSimpleMotorFeedforward();
+        SwerveConstants.DRIVE_PIDF_CONSTANTS
+            .feedforwardControllerConfig()
+            .createSimpleMotorFeedforward();
 
-    velocityFeedback = SwerveConstants.DRIVE_PIDF_CONSTANTS.feedback.createPIDController();
+    velocityFeedback =
+        SwerveConstants.DRIVE_PIDF_CONSTANTS.feedbackControllerConfig().createPIDController();
 
     voltageOutRequest = new VoltageOut(0).withEnableFOC(SwerveConstants.USE_PHOENIX_PRO_FOC);
   }

src/main/java/frc/robot/swerve/SteerMotorIOSim.java

@@ -31,15 +31,15 @@ public SteerMotorIOSim() {
     positionRotations = 0.0;
     velocityRotationsPerSecond = 0.0;
 
-    MechanismConfig pidfConstants = SwerveConstants.STEER_PIDF_CONSTANTS;
+    MechanismConfig config = SwerveConstants.STEER_PIDF_CONSTANTS;
 
     // Simulation is an ideal environment that does not have friction
-    pidfConstants =
-        pidfConstants
-            .withFeedforward(pidfConstants.feedforward.withStaticFeedforward(0.0))
-            .withFeedback(pidfConstants.feedback.withPositionTolerance(0.0));
+    config =
+        config
+            .withFeedforwardConfig(config.feedforwardControllerConfig().withStaticFeedforward(0.0))
+            .withFeedbackConfig(config.feedbackControllerConfig().withPositionTolerance(0.0));
 
-    pidf = new SteerMotorPIDF(pidfConstants);
+    pidf = new SteerMotorPIDF(config);
   }
 
   @Override

src/main/java/frc/robot/swerve/SteerMotorPIDF.java

@@ -15,10 +15,10 @@ public class SteerMotorPIDF {
   private final PIDController feedback;
 
   /** Creates a PIDF utility class. */
-  public SteerMotorPIDF(MechanismConfig pidfConstants) {
-    feedforward = pidfConstants.feedforward.createSimpleMotorFeedforward();
+  public SteerMotorPIDF(MechanismConfig config) {
+    feedforward = config.feedforwardControllerConfig().createSimpleMotorFeedforward();
 
-    feedback = pidfConstants.feedback.createPIDController();
+    feedback = config.feedbackControllerConfig().createPIDController();
     feedback.enableContinuousInput(-0.5, 0.5);
   }
 

src/main/java/frc/robot/swerve/SwerveConstants.java

@@ -154,7 +154,7 @@ private static double calculateKv(double voltsPerRotorRotationPerSecond) {
 
   public static final MechanismConfig DRIVE_PIDF_CONSTANTS =
       new MechanismConfig()
-          .withFeedforward(
+          .withFeedforwardConfig(
               new FeedforwardControllerConfig()
                   .withStaticFeedforward(0.14) // volts
                   .withVelocityFeedforward(calculateKv(0.12)) // volts per meter per second
@@ -163,10 +163,10 @@ private static double calculateKv(double voltsPerRotorRotationPerSecond) {
   /** Constants for steer motor PIDF position controllers. */
   public static final MechanismConfig STEER_PIDF_CONSTANTS =
       new MechanismConfig()
-          .withFeedforward(
+          .withFeedforwardConfig(
               new FeedforwardControllerConfig().withStaticFeedforward(0.205) // volts
               )
-          .withFeedback(
+          .withFeedbackConfig(
               new FeedbackControllerConfig()
                   .withProportionalGain(54.0) // volts per rotation
                   .withDerivativeGain(0.16) // volts per rotation per second