[DRAFT] Auto register all devices#636
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Only did canmotor controlers and servos so far
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…ices # Conflicts: # src/main/java/xbot/common/controls/actuators/XCANMotorController.java # src/main/java/xbot/common/controls/actuators/mock_adapters/MockCANMotorController.java # src/main/java/xbot/common/controls/actuators/wpi_adapters/CANSparkMaxWpiAdapter.java # src/main/java/xbot/common/controls/actuators/wpi_adapters/CANTalonFxWpiAdapter.java # src/main/java/xbot/common/controls/actuators/wpi_adapters/CANVictorSPXWpiAdapter.java
…tion BaseSwerveDriveSubsystem (and the SwerveModuleSubsystem/SwerveSteeringSubsystem chain it drives) implemented DataFrameRefreshable but had no path to ever be invoked once BaseSubsystem.registerDataFrameRefreshable() was removed in favor of self-registering devices - its refreshDataFrame() was silently dead code, so swerve module odometry/state never updated. It now self-registers with DataFrameRegistry like every device class does, and the now-unused BaseRobot.dataFrameRefreshables list/loop is removed. Added a regression test that fails without the fix. Also centralizes XGyro's DataFrameRegistry registration into its own base constructor instead of duplicating it across MockGyro/Pigeon2Adapter/ InertialMeasurementUnitAdapter, which incidentally fixes InertialMeasurement- UnitAdapter never registering when AHRS construction throws. Plus small cleanup: stray unused import, dead commented-out code, and DataFrameRegistry's dedupe switched from a List.contains() scan to a LinkedHashSet. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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