Lynx sensor module

hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextCRServo.kt

@@ -44,12 +44,21 @@ open class NextCRServo @JvmOverloads constructor(
    * @param port The servo port (in the range [0, 5]).
    * @param cacheTolerance Tolerance used by the [Caching] delegate for power updates; defaults to 0.01.
    */
-  @JvmOverloads constructor(module: NextLynxModule, port: Int, cacheTolerance: Double = 0.01) : this(
+  @JvmOverloads constructor(
+    module: NextLynxModule,
+    port: Int,
+    cacheTolerance: Double = 0.01,
+  ) : this(
     { CRServoImplEx(module.servoController, port, ServoConfigurationType.getStandardServoType()) },
     cacheTolerance,
-  )
+  ) {
+    require(port in 0..3) { "Expected port in range [0, 3], got $port" }
+  }
 
-  @JvmOverloads constructor(name: String, cacheTolerance: Double = 0.01) : this(
+  @JvmOverloads constructor(
+    name: String,
+    cacheTolerance: Double = 0.01,
+  ) : this(
     { RobotController.hardwareMap[name] as CRServoImplEx },
     cacheTolerance,
   )

hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextFeedbackCRServo.kt

@@ -8,7 +8,6 @@
 
 package dev.nextftc.hardware.actuators
 
-import com.qualcomm.robotcore.hardware.AnalogInput
 import com.qualcomm.robotcore.hardware.CRServoImplEx
 import com.qualcomm.robotcore.hardware.configuration.typecontainers.ServoConfigurationType
 import dev.nextftc.hardware.RobotController
@@ -29,45 +28,48 @@ import dev.nextftc.units.radians
  *
  * @param initializer A function returning the backing [CRServoImplEx]. It will
  * be invoked lazily the first time the servo is accessed.
- * @param feedbackName Hardware map name of the analog input.
+ * @param feedbackInitializer A function returning the backing [AnalogFeedback]
+ * used to read the feedback angle. Accepts any [AnalogFeedback] implementation.
  * @param cacheTolerance Tolerance for the [NextCRServo] power caching delegate.
  */
 class NextFeedbackCRServo @JvmOverloads constructor(
   initializer: () -> CRServoImplEx,
-  feedbackName: String,
+  feedbackInitializer: () -> AnalogFeedback,
   cacheTolerance: Double = 0.01,
 ) : NextCRServo(initializer, cacheTolerance) {
 
   /**
-   * Constructor to create a NextFeedbackCRServo using a servo name.
+   * Constructor to create a NextFeedbackCRServo using a servo name and an
+   * already-constructed [AnalogFeedback] instance for the feedback input.
    *
    * @param servoName Hardware map name of the servo.
-   * @param feedbackName Hardware map name of the analog input.
+   * @param feedback An already-constructed [AnalogFeedback] instance to read the angle from.
    * @param cacheTolerance Tolerance for the [NextCRServo] power caching delegate.
    */
   @JvmOverloads constructor(
     servoName: String,
-    feedbackName: String,
+    feedback: AnalogFeedback,
     cacheTolerance: Double = 0.01,
   ) : this(
     { RobotController.hardwareMap[servoName] as CRServoImplEx },
-    feedbackName,
+    { feedback },
     cacheTolerance,
   )
 
   /**
-   * Constructor to create a NextFeedbackCRServo using a LynxModule and port number.
+   * Constructor to create a NextFeedbackCRServo using a LynxModule and port number for
+   * the servo, and an already-constructed [AnalogFeedback] instance for the feedback input.
    *
    * @param module The Lynx module, see [RobotController.controlHub], [RobotController.expansionHub],
    * and [RobotController.servoHubs].
    * @param port The servo port (in the range [0, 5]).
-   * @param feedbackName Hardware map name of the analog input.
+   * @param feedback An already-constructed [AnalogFeedback] instance to read the angle from.
    * @param cacheTolerance Tolerance for the [NextCRServo] power caching delegate.
    */
   @JvmOverloads constructor(
     module: NextLynxModule,
     port: Int,
-    feedbackName: String,
+    feedback: AnalogFeedback,
     cacheTolerance: Double = 0.01,
   ) : this(
     {
@@ -77,14 +79,12 @@ class NextFeedbackCRServo @JvmOverloads constructor(
         ServoConfigurationType.getStandardServoType(),
       )
     },
-    feedbackName,
+    { feedback },
     cacheTolerance,
   )
 
-  private val analogInput by LazyHardware {
-    RobotController.hardwareMap[feedbackName] as AnalogInput
-  }
-  private val rawAngleRadians: Double by AnalogFeedback { analogInput.voltage }
+  private val analogInput by LazyHardware(feedbackInitializer)
+  private val rawAngleRadians: Double by analogInput
 
   /**
    * Actual angle of the servo, reported from the analog feedback input.