Neo config

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -0,0 +1,23 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+public class IntakeSubsystem extends SubsystemBase {
+  /** Creates a new IntakeSubsystem. */
+  public IntakeSubsystem() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/frc/robot/utils/NeoConfig.java

@@ -0,0 +1,24 @@
+package frc.robot.utils;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkBase.SoftLimitDirection;
+
+
+/**  
+ * @author Ze Rui Zheng
+ * @author Elvis Osmanov
+ */
+public class NeoConfig {
+    public static void configureNeo(CANSparkMax neo, boolean invert) {
+
+        neo.setIdleMode(IdleMode.kCoast);
+        neo.enableSoftLimit(SoftLimitDirection.kForward, false);
+        neo.enableSoftLimit(SoftLimitDirection.kReverse, false);
+        neo.setInverted(invert);
+    }
+    public static void configureFollowerNeo(CANSparkMax neo, CANSparkMax master, boolean opposeMaster) {
+        configureNeo(neo, false);
+        neo.follow(master);
+    }
+}

src/main/java/frc/robot/utils/TalonFXConfig.java

@@ -27,8 +27,6 @@ public static TalonFXConfiguration configureFalcon(TalonFX falcon, boolean inver
     TalonFXConfiguration config = new TalonFXConfiguration();
 
     falcon.getConfigurator().DefaultTimeoutSeconds = Constants.CAN.CAN_TIMEOUT;
-    // falcon.getConfigurator().apply(config); // FACTORY RESET
-
     falcon.getConfigurator().refresh(config);
 
         config.MotorOutput.DutyCycleNeutralDeadband = 0.01;
@@ -54,7 +52,7 @@ public static TalonFXConfiguration configureFalcon(TalonFX falcon, boolean inver
    * @param master - The master motor.
    * @param opposeMaster - Boolean for whether the follower motor inverted to the master.
    */
-  public static void configureDriveFollowerFalcon(
+  public static void configureFollowerFalcon(
       TalonFX falcon, TalonFX master, boolean opposeMaster) {
     configureFalcon(falcon, false);
     falcon.setControl(new Follower(master.getDeviceID(), opposeMaster));