removed MOTION_PROFILING

Author: Spikes-2212

src/main/java/com/spikes2212/command/drivetrains/smartmotorcontrollerdrivetrain/TalonFXTankDrivetrain.java

@@ -165,7 +165,6 @@ public void pidSet(UnifiedControlMode controlMode, double leftSetpoint, double r
             case CURRENT -> new TorqueCurrentFOC(leftSetpoint);
             case PERCENT_OUTPUT -> new DutyCycleOut(leftSetpoint);
             case TRAPEZOID_PROFILE -> new MotionMagicDutyCycle(leftSetpoint);
-            case MOTION_PROFILING -> throw new UnsupportedOperationException("Motion Profiling is not yet implemented in SpikesLib2!");
             case VOLTAGE -> new VoltageOut(leftSetpoint);
             case VELOCITY -> new VelocityDutyCycle(leftSetpoint);
             case POSITION -> new PositionDutyCycle(leftSetpoint);
@@ -174,7 +173,6 @@ public void pidSet(UnifiedControlMode controlMode, double leftSetpoint, double r
             case CURRENT -> new TorqueCurrentFOC(rightSetpoint);
             case PERCENT_OUTPUT -> new DutyCycleOut(rightSetpoint);
             case TRAPEZOID_PROFILE -> new MotionMagicDutyCycle(rightSetpoint);
-            case MOTION_PROFILING -> throw new UnsupportedOperationException("Motion Profiling is not yet implemented in SpikesLib2!");
             case VOLTAGE -> new VoltageOut(rightSetpoint);
             case VELOCITY -> new VelocityDutyCycle(rightSetpoint);
             case POSITION -> new PositionDutyCycle(rightSetpoint);
@@ -206,7 +204,7 @@ public void finish() {
     public boolean leftOnTarget(UnifiedControlMode controlMode, double tolerance, double setpoint) {
         double value = switch (controlMode) {
             case VELOCITY -> leftMaster.getVelocity().getValueAsDouble();
-            case POSITION, MOTION_PROFILING, TRAPEZOID_PROFILE -> leftMaster.getPosition().getValueAsDouble();
+            case POSITION, TRAPEZOID_PROFILE -> leftMaster.getPosition().getValueAsDouble();
             case CURRENT -> leftMaster.getTorqueCurrent().getValueAsDouble();
             case PERCENT_OUTPUT -> leftMaster.get();
             case VOLTAGE -> leftMaster.getMotorVoltage().getValueAsDouble();
@@ -226,7 +224,7 @@ public boolean leftOnTarget(UnifiedControlMode controlMode, double tolerance, do
     public boolean rightOnTarget(UnifiedControlMode controlMode, double tolerance, double setpoint) {
         double value = switch (controlMode) {
             case VELOCITY -> rightMaster.getVelocity().getValueAsDouble();
-            case POSITION, MOTION_PROFILING, TRAPEZOID_PROFILE -> rightMaster.getPosition().getValueAsDouble();
+            case POSITION, TRAPEZOID_PROFILE -> rightMaster.getPosition().getValueAsDouble();
             case CURRENT -> rightMaster.getTorqueCurrent().getValueAsDouble();
             case PERCENT_OUTPUT -> rightMaster.get();
             case VOLTAGE -> rightMaster.getMotorVoltage().getValueAsDouble();

src/main/java/com/spikes2212/util/UnifiedControlMode.java

@@ -18,7 +18,6 @@ public enum UnifiedControlMode {
     CURRENT(ControlModeValue.TorqueCurrentFOC, SparkBase.ControlType.kCurrent),
     PERCENT_OUTPUT(ControlModeValue.DutyCycleOut, SparkBase.ControlType.kDutyCycle),
     TRAPEZOID_PROFILE(ControlModeValue.MotionMagicDutyCycle, SparkBase.ControlType.kMAXMotionPositionControl),
-    MOTION_PROFILING(null, null),
     VOLTAGE(ControlModeValue.VoltageOut, SparkBase.ControlType.kVoltage);
 
     private final ControlModeValue talonFXControlMode;

src/main/java/com/spikes2212/util/smartmotorcontrollers/TalonFXWrapper.java

@@ -110,7 +110,6 @@ public void pidSet(UnifiedControlMode controlMode, double setpoint, PIDSettings
             case CURRENT -> new TorqueCurrentFOC(setpoint);
             case PERCENT_OUTPUT -> new DutyCycleOut(setpoint);
             case TRAPEZOID_PROFILE -> new MotionMagicDutyCycle(setpoint);
-            case MOTION_PROFILING -> throw new UnsupportedOperationException("Motion Profiling is not yet implemented in SpikesLib2!");
             case VOLTAGE -> new VoltageOut(setpoint);
             case VELOCITY -> new VelocityDutyCycle(setpoint);
             case POSITION -> new PositionDutyCycle(setpoint);
@@ -214,7 +213,7 @@ public double getVoltage() {
     public boolean onTarget(UnifiedControlMode controlMode, double tolerance, double setpoint) {
         double value = switch (controlMode) {
             case VELOCITY -> getVelocity();
-            case POSITION, MOTION_PROFILING, TRAPEZOID_PROFILE -> getPosition();
+            case POSITION, TRAPEZOID_PROFILE -> getPosition();
             case CURRENT -> getCurrent();
             case PERCENT_OUTPUT -> talonFX.get();
             case VOLTAGE -> getVoltage();