5/29 Testing Changes - #15
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Pull request overview
This PR applies hardware testing updates for robot IDs, drivetrain calibration offsets, and shooter/intake control behavior.
Changes:
- Renames/updates CAN ID constants and uses the new names in subsystems.
- Adjusts rotor speed constants and switches serializer/intake roller paths to open-loop duty cycle in some cases.
- Adds driver bindings for shooting and reset-pose behavior.
Reviewed changes
Copilot reviewed 8 out of 8 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
src/main/java/frc/robot/subsystems/Rotors.java |
Updates transfer roller IDs and adds open-loop serializer/intake roller control. |
src/main/java/frc/robot/subsystems/Motion.java |
Uses renamed hood CAN constant. |
src/main/java/frc/robot/RobotContainer.java |
Adds shooting and reset-pose command bindings. |
src/main/java/frc/robot/DeviceIDs.java |
Renames/reorders rotor and motion CAN IDs. |
src/main/java/frc/robot/constants/ConstRotors.java |
Updates rotor speed constants and serializer stop/shoot values. |
src/main/java/frc/robot/constants/ConstDrivetrain.java |
Updates swerve absolute encoder offsets. |
src/main/java/frc/robot/commands/states/Shooting.java |
Uses duty-cycle stop value for serializer shutdown. |
src/main/java/frc/robot/commands/states/Intaking.java |
Starts intake rollers during initialization and updates stop constant usage. |
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Comment on lines
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| public void setIntakeRollersSpeed(double speed) { | ||
| intakeRollersWest.set(speed); | ||
| intakeRollersEast.setControl(intakeRollerEastFollower); | ||
| } |
| public static final AngularVelocity INTAKE_ROLLERS_SPEED = Units.RPM.of(3); | ||
| public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000); | ||
| public static final AngularVelocity INTAKE_ROLLERS_SPEED = Units.RPM.of(1000); | ||
| public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(3000); |
TaylerUva
requested changes
May 30, 2026
TaylerUva
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TaylerUva
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No need to change device variable names
Should shooting set the flywheel speed? what part actually makes it "shoot"?
Comment on lines
+114
to
+117
| public void setIntakeRollersSpeed(double speed) { | ||
| intakeRollersWest.set(speed); | ||
| intakeRollersEast.setControl(intakeRollerEastFollower); | ||
| } |
| public static final AngularVelocity INTAKE_TRANSFER_SPEED = Units.RPM.of(3000); | ||
| public static final AngularVelocity SERIALIZER_SHOOTING_SPEED = Units.RPM.of(4000); | ||
| public static final double SERIALIZER_SHOOTING_SPEED = 1; | ||
| public static final AngularVelocity STOP_ALL = Units.RPM.of(0); |
| @Override | ||
| public void initialize() { | ||
| RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY); | ||
| RobotContainer.rotorsInstance.setIntakeRollersSpeed(0.5); |
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why hardcoded? should be in constants
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