remove subsystem parameter - can't use this in super()

Author: Dheeraj Prakash

src/main/java/org/hyperonline/hyperlib/controller/limits/DualLimitedController.java

@@ -24,8 +24,13 @@ public class DualLimitedController implements SendableMotorController {
 
     public DualLimitedController(SendableMotorController controller, DigitalInput forwardLimit, DigitalInput reverseLimit, DoublePreference forwardSpeed, DoublePreference reverseSpeed, Subsystem subsystem) {
         this.controller = controller;
-        this.forwardController = new ForwardLimitedController(controller, forwardLimit, forwardSpeed, subsystem);
-        this.reverseController = new ReverseLimitedController(controller, reverseLimit, reverseSpeed, subsystem);
+        this.forwardController = new ForwardLimitedController(controller, forwardLimit, forwardSpeed);
+        this.reverseController = new ReverseLimitedController(controller, reverseLimit, reverseSpeed);
+    }
+
+    public void setSubsystem(Subsystem subsystem) {
+        forwardController.setSubsystem(subsystem);
+        reverseController.setSubsystem(subsystem);
     }
 
     public boolean canMove(double speed) {

src/main/java/org/hyperonline/hyperlib/controller/limits/ForwardLimitedController.java

@@ -39,20 +39,23 @@ public class ForwardLimitedController implements SendableMotorController {
     /**
      * The subsystem the controller is being attached to
      */
-    private final Subsystem subsystem;
+    private Subsystem subsystem;
 
 
     /**
      * Construct a new {@link ForwardLimitedController} from the given information.
      * @param controller the controller to limit
      * @param limit the forward limit switch
      * @param forwardSpeed the speed preference to move at
-     * @param subsystem the subsystem the controller belongs to (to set requirement for commands)
      */
-    public ForwardLimitedController(SendableMotorController controller, DigitalInput limit, DoublePreference forwardSpeed, Subsystem subsystem) {
+    public ForwardLimitedController(SendableMotorController controller, DigitalInput limit, DoublePreference forwardSpeed) {
         this.controller = controller;
         this.limit = limit;
         this.forwardSpeed = forwardSpeed;
+    }
+
+    public void setSubsystem(Subsystem subsystem) {
+        if (this.subsystem != null) throw new UnsupportedOperationException("Cannot replace already set subsystem.");
         this.subsystem = subsystem;
     }
 

src/main/java/org/hyperonline/hyperlib/controller/limits/ReverseLimitedController.java

@@ -25,12 +25,16 @@ public class ReverseLimitedController implements SendableMotorController {
     private final SendableMotorController controller;
     private final DigitalInput limit;
     private final DoublePreference reverseSpeed;
-    private final Subsystem subsystem;
+    private Subsystem subsystem;
 
-    public ReverseLimitedController(SendableMotorController controller, DigitalInput limit, DoublePreference forwardSpeed, Subsystem subsystem) {
+    public ReverseLimitedController(SendableMotorController controller, DigitalInput limit, DoublePreference forwardSpeed) {
         this.controller = controller;
         this.limit = limit;
         this.reverseSpeed = forwardSpeed;
+    }
+
+    public void setSubsystem(Subsystem subsystem) {
+        if (this.subsystem != null) throw new UnsupportedOperationException("Cannot replace already set subsystem.");
         this.subsystem = subsystem;
     }