This is not an urgent issue, but there might be some inefficiencies when getting the encoder positions on from the SparkMaxes. The CANSparkMax class has a method getEncoder(), which for some reason instantiates a new CANEncoder object every time it is called. Using the SparkMaxPrime class in raidzero.robot.components changes this, as only one encoder object is created throughout the object's lifetime.
This is not an urgent issue, but there might be some inefficiencies when getting the encoder positions on from the SparkMaxes. The
CANSparkMaxclass has a methodgetEncoder(), which for some reason instantiates a newCANEncoderobject every time it is called. Using theSparkMaxPrimeclass inraidzero.robot.componentschanges this, as only one encoder object is created throughout the object's lifetime.