From 9aa42285eb2710a460d540fc31f1b839a7de9ba9 Mon Sep 17 00:00:00 2001
From: PenguinEncounter <49845522+penguinencounter@users.noreply.github.com>
Date: Sun, 7 Jan 2024 10:46:27 -0800
Subject: [PATCH] fix issues with generic MotorSet (this does literally nothing
 after compilation)

---
 .../org/firstinspires/ftc/teamcode/odo/DriveForwardPID.java   | 2 +-
 .../main/java/org/firstinspires/ftc/teamcode/odo/TurnPID.java | 2 +-
 .../org/firstinspires/ftc/teamcode/opmodes/DriveForward.java  | 4 ++--
 .../java/org/firstinspires/ftc/teamcode/opmodes/HWTest.java   | 2 +-
 .../java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java   | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/DriveForwardPID.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/DriveForwardPID.java
index 31657523a3f7..434315cb50bb 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/DriveForwardPID.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/DriveForwardPID.java
@@ -78,7 +78,7 @@ public double StrafeOdoDist() {
     }
 
     RobotConfiguration robot;
-    MotorSet driveMotors;
+    MotorSet<DcMotor> driveMotors;
 
     public double sumOfError = 0;
     public static final double kp = 0.2;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/TurnPID.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/TurnPID.java
index dd6a6ca4aca4..8e71d40fdd85 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/TurnPID.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/odo/TurnPID.java
@@ -11,7 +11,7 @@
 
 public class TurnPID {
     RobotConfiguration robot;
-    MotorSet driveMotors;
+    MotorSet<DcMotor> driveMotors;
     DcMotor para1;
     DcMotor para2;
     DcMotor perp;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveForward.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveForward.java
index d4f01c337d05..775cbd15dbfa 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveForward.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/DriveForward.java
@@ -4,11 +4,11 @@
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration;
 import org.firstinspires.ftc.teamcode.odo.DriveForwardPID;
 import org.firstinspires.ftc.teamcode.odo.TurnPID;
-import org.firstinspires.ftc.teamcode.utilities.MotorPowers;
 import org.firstinspires.ftc.teamcode.utilities.MotorSet;
 
 @Autonomous
@@ -17,7 +17,7 @@ public class DriveForward extends LinearOpMode {
     public void runOpMode() {
         telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         RobotConfiguration robot = RobotConfiguration.currentConfiguration().invoke(hardwareMap);
-        MotorSet driveMotors = robot.driveMotors();
+        MotorSet<DcMotor> driveMotors = robot.driveMotors();
         DriveForwardPID pidDrive = new DriveForwardPID(robot);
         TurnPID pidTurn = new TurnPID(robot);
         robot.clearEncoders();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/HWTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/HWTest.java
index de625e6ab178..a495145596e0 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/HWTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/HWTest.java
@@ -95,7 +95,7 @@ void testMotor(String label, DcMotor theMotor) {
     void testMotors() {
         if (!confirm("Test motors?")) return;
         alert("Lift the robot so that the wheels don't\ntouch the ground for the duration of\nthe test.");
-        MotorSet motors = robot.driveMotors();
+        MotorSet<DcMotor> motors = robot.driveMotors();
         testMotor("Front Left", motors.frontLeft);
         testMotor("Front Right", motors.frontRight);
         testMotor("Back Left", motors.backLeft);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java
index 9fded65b7e68..291e08948604 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java
@@ -71,7 +71,7 @@ public void runOpMode() {
         robot.purpleDropper().setPosition(Var.PixelDropper.back);
 
         // we don't want to have to call driveMotors() every time because it gets tedious
-        MotorSet driveMotors = robot.driveMotors();
+        MotorSet<DcMotor> driveMotors = robot.driveMotors();
 
         Servo dumperServo = robot.dumperRotate();
         Servo latch = robot.dumperLatch();