Configuration

Configuration is a value, not a sequence of setter calls. Build the object you want, apply it, and the device takes all of it or none of it.

var config = new RotemConfiguration();
config.mountPose.yawDegrees = 90.0;
config.features.magnetometerFusionEnabled = false;
config.features.hostTimeoutSeconds = 2.0;

var status = imu.getConfigurator().apply(config);

A freshly constructed RotemConfiguration is exactly the factory default, so applying an empty one resets the device. There is no separate “factory reset” verb to remember.

Where to put it

public class DrivetrainSubsystem extends SubsystemBase {
  private final CoreRotem imu = new CoreRotem(0, transport);

  public DrivetrainSubsystem() {
    var config = new RotemConfiguration();
    config.mountPose.yawDegrees = 90.0;
    imu.getConfigurator().apply(config);   // constructor — once
  }

  @Override
  public void periodic() {
    // never configure here
  }
}

Do not configure in periodic()

Applying configuration every loop iteration wears the device’s flash and floods the bus, and it is nearly always an accident — a configure() call that belongs in a constructor ends up in periodic().

After three seconds of sustained loop-rate applies, the configurator stops writing and returns FREQUENT_CONFIG_CALLS. There is a five-second grace period after construction, so legitimate start-up bursts stay quiet.

Validation happens before the bus

Every field is range-checked locally against the range in its javadoc. An out-of-range value costs nothing and reports precisely, instead of spending a round trip to be rejected by firmware.

config.mountPose.yawDegrees = 200.0;      // permitted range is -180 to 180
imu.getConfigurator().apply(config);      // INVALID_PARAMETER, nothing sent

Commits are atomic

An apply stages every value, range-checks it, then commits once to wear-levelled flash with a schema version, a monotonic revision counter and a CRC. A brown-out mid-commit leaves the previous configuration intact. There is no state in which a device is half configured.