From 9e9ba7af027fabe1485411dca377f5ef1150224c Mon Sep 17 00:00:00 2001
From: Benjamin Hall <bhallctre@gmail.com>
Date: Fri, 8 Dec 2023 18:02:37 -0500
Subject: [PATCH] Use references to the existing configs object

---
 cpp/MotionMagic/src/main/cpp/Robot.cpp              | 9 +++------
 java/MotionMagic/src/main/java/frc/robot/Robot.java | 9 +++------
 2 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/cpp/MotionMagic/src/main/cpp/Robot.cpp b/cpp/MotionMagic/src/main/cpp/Robot.cpp
index cbb7612e..c56b807a 100644
--- a/cpp/MotionMagic/src/main/cpp/Robot.cpp
+++ b/cpp/MotionMagic/src/main/cpp/Robot.cpp
@@ -20,24 +20,21 @@ void Robot::RobotInit() {
   configs::TalonFXConfiguration cfg{};
 
   /* Configure current limits */
-  configs::MotionMagicConfigs mm{};
+  configs::MotionMagicConfigs &mm = cfg.MotionMagic;
   mm.MotionMagicCruiseVelocity = 5; // 5 rotations per second cruise
   mm.MotionMagicAcceleration = 10; // Take approximately 0.5 seconds to reach max vel
   // Take approximately 0.2 seconds to reach max accel 
   mm.MotionMagicJerk = 50;
-  cfg.MotionMagic = mm;
 
-  configs::Slot0Configs slot0{};
+  configs::Slot0Configs &slot0 = cfg.Slot0;
   slot0.kP = 60;
   slot0.kI = 0;
   slot0.kD = 0.1;
   slot0.kV = 0.12;
   slot0.kS = 0.25; // Approximately 0.25V to get the mechanism moving
-  cfg.Slot0 = slot0;
 
-  configs::FeedbackConfigs fdb{};
+  configs::FeedbackConfigs &fdb = cfg.Feedback;
   fdb.SensorToMechanismRatio = 12.8;
-  cfg.Feedback = fdb;
 
   ctre::phoenix::StatusCode status = ctre::phoenix::StatusCode::StatusCodeNotInitialized;
   for(int i = 0; i < 5; ++i) {
diff --git a/java/MotionMagic/src/main/java/frc/robot/Robot.java b/java/MotionMagic/src/main/java/frc/robot/Robot.java
index 4c998e8d..8c142198 100644
--- a/java/MotionMagic/src/main/java/frc/robot/Robot.java
+++ b/java/MotionMagic/src/main/java/frc/robot/Robot.java
@@ -49,24 +49,21 @@ public void robotInit() {
     TalonFXConfiguration cfg = new TalonFXConfiguration();
 
     /* Configure current limits */
-    MotionMagicConfigs mm = new MotionMagicConfigs();
+    MotionMagicConfigs mm = cfg.MotionMagic;
     mm.MotionMagicCruiseVelocity = 5; // 5 rotations per second cruise
     mm.MotionMagicAcceleration = 10; // Take approximately 0.5 seconds to reach max vel
     // Take approximately 0.2 seconds to reach max accel 
     mm.MotionMagicJerk = 50;
-    cfg.MotionMagic = mm;
 
-    Slot0Configs slot0 = new Slot0Configs();
+    Slot0Configs slot0 = cfg.Slot0;
     slot0.kP = 60;
     slot0.kI = 0;
     slot0.kD = 0.1;
     slot0.kV = 0.12;
     slot0.kS = 0.25; // Approximately 0.25V to get the mechanism moving
-    cfg.Slot0 = slot0;
 
-    FeedbackConfigs fdb = new FeedbackConfigs();
+    FeedbackConfigs fdb = cfg.Feedback;
     fdb.SensorToMechanismRatio = 12.8;
-    cfg.Feedback = fdb;
 
     StatusCode status = StatusCode.StatusCodeNotInitialized;
     for(int i = 0; i < 5; ++i) {