Lib199Subsystem can't be unregistered

[brettle]

This should be public:

lib199/src/main/java/org/carlmontrobotics/lib199/Lib199Subsystem.java

Line 11 in 946c6fa

private static final Lib199Subsystem INSTANCE = new Lib199Subsystem();

So that one can call CommandScheduler.getInstance().unregister(Lib199Subsystem.INSTANCE) if it's periodic methods interfere with other things. For example, at the moment, MockCANCoder interferes with other simulation code trying to use CANcoderSimState.setRawPosition().

[CoolSpy3]

We'd need to do more than unregister the subsystem. MockCANCoder registers itself with the async periodic methods, which are not run by CommandScheduler. It might make more sense to just expose a general disable method that disables the actual run logic of the subsystem.

However, the general idea of Lib199Subsystem is that it's used for stuff that is expected to always run. i.e. when you create a method or call an object that requires periodic functionality, it handles it automatically. Thus, I think that exposing a such a method could be dangerous and lead to unintended side effects. (e.x. calling it from competition code would disable SparkMax temperature and error checks).

If there's a specific feature that's causing problems, a better course of action would be to just not use that feature. In this case, it might make sense to instead expose variants of the functions in MotorControllerFactory and SensorFactory that never create a simulation-device variant.