getUnwrapped method for everything allowing for cast calls to wrapper…

…ed devices when necessary.

build.gradle

@@ -7,7 +7,7 @@ plugins {
 sourceCompatibility = '1.11'
 targetCompatibility = '1.11'
 group 'com.northeasternrobotics.wrappers'
-version '0.1.1'
+version '0.1.2'
 
 java {
     withSourcesJar()

src/main/java/com/northeasternrobotics/wrappers/encoders/AbstractSwerveAzmthEncoder.java

@@ -9,4 +9,9 @@ public abstract class AbstractSwerveAzmthEncoder {
      */
     public abstract double getRawAngle_rad();
 
+    /**
+     * @return The unwrapped encoder object
+     */
+    public abstract Object getUnwrappedEncoder();
+
 }

src/main/java/com/northeasternrobotics/wrappers/encoders/CANCoder/RealCANCoder.java

@@ -37,6 +37,11 @@ public RealCANCoder(int can_id) {
         cancoder.configAllSettings(config);
     }
 
+    @Override
+    public Object getUnwrappedEncoder() {
+        return cancoder;
+    }
+
     @Override
     public double getRawAngle_rad() {
         supplyVoltage = cancoder.getBusVoltage();

src/main/java/com/northeasternrobotics/wrappers/encoders/SRXEncoder/RealSRXEncoder.java

@@ -24,6 +24,11 @@ public RealSRXEncoder(int port) {
         m_dutyCycle = new DutyCycle(m_digitalInput);
     }
 
+    @Override
+    public Object getUnwrappedEncoder() {
+        return m_digitalInput;
+    }
+
     @Override
     public double getRawAngle_rad() {
         freq = m_dutyCycle.getFrequency(); //Track this for fault mode detection

src/main/java/com/northeasternrobotics/wrappers/encoders/Sim/SimSwerveAzmthEncoder.java

@@ -21,6 +21,11 @@ public SimSwerveAzmthEncoder(int port) {
         SimDeviceBanks.addDIDevice(this, port);
     }
 
+    @Override
+    public Object getUnwrappedEncoder() {
+        return this;
+    }
+
     /**
      * Simulates the encoder updating
      *

src/main/java/com/northeasternrobotics/wrappers/encoders/ThriftyEncoder/RealThriftyEncoder.java

@@ -24,6 +24,11 @@ public RealThriftyEncoder(int port) {
         m_encoder = new AnalogEncoder(m_input);
     }
 
+    @Override
+    public Object getUnwrappedEncoder() {
+        return m_encoder;
+    }
+
     @Override
     public double getRawAngle_rad() {
         measVoltage = m_input.getVoltage();

src/main/java/com/northeasternrobotics/wrappers/encoders/WrapperedSwerveAzimuthEncoder.java

@@ -14,7 +14,6 @@
 public class WrapperedSwerveAzimuthEncoder {
     AbstractSwerveAzmthEncoder enc;
     double curAngleRad;
-    // TODO: Bring in oxconfig maybe?
     double mountingOffset;
 
     /**
@@ -47,6 +46,13 @@ public WrapperedSwerveAzimuthEncoder(SwerveAzmthEncType type, String prefix, int
         this.mountingOffset = dfltMountingOffset_rad;
     }
 
+    /**
+     * @return Motor controller object
+     */
+    public Object getUnwrappedEncoder() {
+        return enc.getUnwrappedEncoder();
+    }
+
     /**
      * Updates the abstracted swerve azimuth encoder values
      */

src/main/java/com/northeasternrobotics/wrappers/gyro/ADXRS453/RealADXRS453.java

@@ -22,6 +22,11 @@ public RealADXRS453() {
         realGyro.calibrate();
     }
 
+    @Override
+    public Object getUnwrappedGyro() {
+        return realGyro;
+    }
+
     @Override
     public void reset() {
         realGyro.reset();

src/main/java/com/northeasternrobotics/wrappers/gyro/AbstractGyro.java

@@ -4,6 +4,10 @@
  * Abstract class for a gyro.
  */
 public abstract class AbstractGyro {
+    /**
+     * @return gyro object
+     */
+    public abstract Object getUnwrappedGyro();
     /**
      * Resets the gyro to a heading of zero.
      */

src/main/java/com/northeasternrobotics/wrappers/gyro/NavX/RealNavx.java

@@ -20,6 +20,11 @@ public RealNavx() {
         this.calibrate();
     }
 
+    @Override
+    public Object getUnwrappedGyro() {
+        return ahrs;
+    }
+
     @Override
     public void reset() {
         ahrs.reset();

src/main/java/com/northeasternrobotics/wrappers/gyro/SimGyro.java

@@ -17,6 +17,11 @@ public SimGyro() {
         SimDeviceBanks.addSPIDevice(this, 0); // TODO are we actually on CS 0?
     }
 
+    @Override
+    public Object getUnwrappedGyro() {
+        return this;
+    }
+
     @Override
     public void reset() {
         rate = 0;

src/main/java/com/northeasternrobotics/wrappers/gyro/WrapperedGyro.java

@@ -29,6 +29,13 @@ public WrapperedGyro(GyroType type) {
         }
     }
 
+    /**
+     * @return gyro object
+     */
+    public Object getUnwrappedGyro() {
+        return gyro.getUnwrappedGyro();
+    }
+
     /**
      * Updates the abstracted gyro values
      */

src/main/java/com/northeasternrobotics/wrappers/motorcontrollers/AbstractSimmableMotorController.java

@@ -4,6 +4,11 @@
  * Abstract class for a Simulateable Motor Controller.
  */
 public abstract class AbstractSimmableMotorController {
+    /**
+     * @return the wrapped motor controller object
+     */
+    public abstract Object getUnwrappedMotor();
+
     /**
      * @param invert if set to true inverts the motors direction
      */

src/main/java/com/northeasternrobotics/wrappers/motorcontrollers/CTRE/RealTalonFX.java

@@ -90,6 +90,10 @@ public RealTalonFX(int can_id) {
         }
     }
 
+    @Override
+    public Object getUnwrappedMotor() {
+        return _talon;
+    }
 
     @Override
     public void setInverted(boolean invert) {

src/main/java/com/northeasternrobotics/wrappers/motorcontrollers/CTRE/RealTalonSRX.java

@@ -88,6 +88,11 @@ public RealTalonSRX(int can_id) {
         }
     }
 
+    @Override
+    public Object getUnwrappedMotor() {
+        return _talon;
+    }
+
     @Override
     public void setInverted(boolean invert) {
         _talon.setInverted(invert);

src/main/java/com/northeasternrobotics/wrappers/motorcontrollers/PlayingWithFusion/RealVenom.java

@@ -21,6 +21,11 @@ public RealVenom(int can_id) {
         _venom = new CANVenom(can_id);
     }
 
+    @Override
+    public Object getUnwrappedMotor() {
+        return _venom;
+    }
+
     @Override
     public void setInverted(boolean invert) {
         _venom.setInverted(invert);

src/main/java/com/northeasternrobotics/wrappers/motorcontrollers/REV/RealSparkMax.java

@@ -55,6 +55,10 @@ public RealSparkMax(int can_id) {
 
     }
 
+    @Override
+    public Object getUnwrappedMotor() {
+        return m_motor;
+    }
 
     @Override
     public void setInverted(boolean invert) {

src/main/java/com/northeasternrobotics/wrappers/motorcontrollers/Sim/SimSmartMotor.java

@@ -41,6 +41,11 @@ public SimSmartMotor(int can_id) {
         SimDeviceBanks.addCANDevice(this, can_id);
     }
 
+    @Override
+    public Object getUnwrappedMotor() {
+        return this;
+    }
+
     @Override
     public void setInverted(boolean invert) {
         isInverted = invert;

src/main/java/com/northeasternrobotics/wrappers/motorcontrollers/WrapperedCANMotorCtrl.java

@@ -51,6 +51,13 @@ public WrapperedCANMotorCtrl(String prefix, int can_id, CANMotorCtrlType type) {
 
     }
 
+    /**
+     * @return Motor controller object
+     */
+    public Object getUnwrappedMotor() {
+        return ctrl.getUnwrappedMotor();
+    }
+
     /**
      * Updates the abstracted controllers values
      */