create_rotors_subsystem by FRCTeam3255-Shared-K1-10 · Pull Request #3 · FRCTeam3255/2026_CopyBot_Code

FRCTeam3255-Shared-K1-10 · 2026-05-17T03:23:15Z

James
Justin

James Justin

TaylerUva · 2026-05-22T23:13:03Z

Be sure to make the pull request name more specific. "I did..." is not a good naming convention since it has extra words that don't add anything"

Copilot

Pull request overview

Adds a new Rotors subsystem intended to manage multiple TalonFX-driven rollers/flywheels, along with the CAN IDs and placeholder TalonFX configurations needed to configure those motors.

Changes:

Introduces Rotors subsystem with TalonFX instances, config application, getters, and setters.
Adds rotor-related CAN IDs to DeviceIDs.rotorIDs.
Adds ConstRotors with TalonFXConfiguration placeholders for each rotor motor.

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 7 comments.

File	Description
src/main/java/frc/robot/subsystems/Rotors.java	Implements the new rotor subsystem (motor objects, configuration, getters/setters).
src/main/java/frc/robot/DeviceIDs.java	Defines CAN IDs for the rotor subsystem motors.
src/main/java/frc/robot/constants/ConstRotors.java	Adds configuration constants intended to be applied to rotor TalonFX devices.

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TaylerUva · 2026-05-22T23:40:27Z

+  final TalonFX flywheelRollersEast = new TalonFX((rotorIDs.FLYWHEEL_EAST_FOLLOWER));
+  final TalonFX flywheelWestFollower = new TalonFX((rotorIDs.TRANSFER_ROLLERS_WEST_CAN));


TaylerUva · 2026-05-22T23:42:12Z

+    intakeRollersWest.getConfigurator().apply(ConstRotors.FLYWHEEL_ROLLERS_WEST_CONFIGURATION);
+    transferRollersEast.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_EAST_CONFIGURATION);
+    transferRollersWest.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_WEST_CONFIGURATION);
+    flywheelRollersEast.getConfigurator().apply(ConstRotors.FLYWHEEL_ROLLERS_EAST_CONFIGURATION);
+    flywheelRollersEast.getConfigurator().apply(ConstRotors.FLYWHEEL_ROLLERS_EAST_CONFIGURATION);


TaylerUva · 2026-05-22T23:42:24Z

+    return serializerRollers.getVelocity().getValue();
+  }
+
+  public AngularVelocity getIntakeRollersWest() {
+    return serializerRollers.getVelocity().getValue();
+  }
+
+  public AngularVelocity getTransferRollersEast() {
+    return serializerRollers.getVelocity().getValue();
+  }
+
+  public AngularVelocity getTransferRollersWest() {
+    return serializerRollers.getVelocity().getValue();
+  }
+
+  public AngularVelocity getFlywheelRollersEast() {
+    return serializerRollers.getVelocity().getValue();
+  }
+
+  public AngularVelocity getFlywheelRollersWest() {
+    return serializerRollers.getVelocity().getValue();
+  }
+
+  public AngularVelocity getFlywheelEastFollower() {
+    return serializerRollers.getVelocity().getValue();
+  }
+
+  public AngularVelocity getFlywheelWestFollower() {
+    return serializerRollers.getVelocity().getValue();


TaylerUva · 2026-05-22T23:42:39Z

+    intakeRollersWest.set(speed);
+
+  }
+
+  public void intakeRollersWest(double speed) {
+    intakeRollersEast.set(speed);


TaylerUva · 2026-05-22T23:42:49Z

+  public void flywheelRollersEast(double speed) {
+    flywheelEastFollower.set(speed);
+
+  }
+
+  public void flywheelRollersWest(double speed) {
+    flywheelRollersWest.set(speed);
+
+  }
+
+  public void flywheelWestFollower(double speed) {
+    flywheelRollersWest.set(speed);
+


TaylerUva · 2026-05-22T23:39:32Z

+    public static final int FLYWHEEL_WEST_FOLLOWER = 18;
+    public static final int FLYWHEEL_EAST_FOLLOWER = 19;



TaylerUva · 2026-05-22T23:39:57Z

 import edu.wpi.first.epilogue.Logged;
+import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.DeviceIDs;


TaylerUva

good so far, check requested changes

TaylerUva · 2026-05-22T23:31:55Z

+  final TalonFX flywheelRollersWest = new TalonFX((rotorIDs.FLYWHEEL_ROLLERS_WEST_CAN));
+  final TalonFX flywheelRollersEast = new TalonFX((rotorIDs.FLYWHEEL_EAST_FOLLOWER));


what are flywheel rollers?

TaylerUva · 2026-05-22T23:35:26Z

+
+  }
+
+  public AngularVelocity getSerializerRollers() {


what about the rollert? what are we getting from the roller? this applies to all your get* functions

TaylerUva · 2026-05-22T23:37:07Z

+
+  }
+
+  public void intakeRollersEast(double speed) {


what are we doing to intakeRollersEast? look at your other functions too

TaylerUva

Remember to pay attention to key details, like making sure names align, a lot of mismatches were caught and these could physically break the robot

Wu-Fan-529 · 2026-05-23T03:57:30Z

+    return serializerRollers.getVelocity().getValue();
+  }
+
+  public AngularVelocity getIntakeRollersEastVelocity() {


Don't need a accessor method for every motor, like getIntakeRollersEast/WestVelocity should be replaced by a single getIntakeRollersVelocity where only gets the master motor. this same issue happened multiple times in this same file.

Wu-Fan-529 · 2026-05-23T04:05:45Z

+  public void intakeRollersEastSpeed(double speed) {
+    intakeRollersEast.set(speed);
+  }
+
+  public void intakeRollersWestSpeed(double speed) {
+    intakeRollersWest.set(speed);
+  }
+
+  public void transferRollersEastSpeed(double speed) {
+    transferRollersEast.set(speed);
+  }
+
+  public void transferRollersWestSpeed(double speed) {
+    transferRollersWest.set(speed);
+  }
+
+  public void flywheelEastSpeed(double speed) {
+    flywheelEast.set(speed);
+  }
+
+  public void flywheelWestSpeed(double speed) {
+    flywheelWest.set(speed);
+  }
+
+  public void flywheelWestFollowerSpeed(double speed) {
+    flywheelWestFollower.set(speed);
+  }
+
+  public void flywheelEastFollowerSpeed(double speed) {
+    flywheelEastFollower.set(speed);
  }


add word "set" to all setter methods

you set all motors in the same function. like setIntakeRollersSpeed should set both east and west motors, the follower should be using: setControl([theFollowerInstance])

Wu-Fan-529 · 2026-05-23T04:08:20Z

+  final TalonFX flywheelWest = new TalonFX((rotorIDs.FLYWHEEL_WEST_CAN));
+  final TalonFX flywheelEast = new TalonFX((rotorIDs.FLYWHEEL_EAST_CAN));
+  final TalonFX flywheelWestFollower = new TalonFX((rotorIDs.FLYWHEEL_WEST_FOLLOWER_CAN));
+  final TalonFX flywheelEastFollower = new TalonFX(rotorIDs.FLYWHEEL_EAST_FOLLOWER_CAN);


need to add followers; examples: Follower flywheelEastFollower = new Follower(flywheelTopEast.getDeviceID(), MotorAlignmentValue.Aligned);

Wu-Fan-529 · 2026-05-23T04:11:31Z

+  public static final TalonFXConfiguration INTAKE_ROLLERS_WEST_CONFIGURATION = new TalonFXConfiguration();
+  public static final TalonFXConfiguration TRANSFER_ROLLERS_EAST_CONFIGURATION = new TalonFXConfiguration();
+  public static final TalonFXConfiguration TRANSFER_ROLLERS_WEST_CONFIGURATION = new TalonFXConfiguration();
+  public static final TalonFXConfiguration FLYWHEEL_EAST_FOLLOWER_CONFIGURATION = new TalonFXConfiguration();


dont need this

Wu-Fan-529 · 2026-05-23T04:11:43Z

+  public static final TalonFXConfiguration FLYWHEEL_EAST_FOLLOWER_CONFIGURATION = new TalonFXConfiguration();
+  public static final TalonFXConfiguration FLYWHEEL_EAST_CONFIGURATION = new TalonFXConfiguration();
+  public static final TalonFXConfiguration FLYWHEEL_WEST_CONFIGURATION = new TalonFXConfiguration();
+  public static final TalonFXConfiguration FLYWHEEL_WEST_FOLLOWER_CONFIGURATION = new TalonFXConfiguration();


sont need this

Wu-Fan-529 · 2026-05-23T04:14:06Z

+  public static final TalonFXConfiguration FLYWHEEL_WEST_FOLLOWER_CONFIGURATION = new TalonFXConfiguration();
+
  public static final double STOP = 0;
+


all of your configurations are empty, you need to add:

CONFIG.MotorOutput.NeutralMode = NeutralModeValue.Brake; CONFIG.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; CONFIG.CurrentLimits.SupplyCurrentLimitEnable = true; CONFIG.CurrentLimits.SupplyCurrentLowerLimit = 35;

for all configurators

i added followers

added foollowers ansd can check speed

added configurationhs

Wu-Fan-529 · 2026-05-23T21:51:23Z

+  AngularVelocity lastDesiredFlyWheelSpeed = Units.RPM.of(0);
+  AngularVelocity lastDesiredTransferRollersSpeed = Units.RPM.of(0);
+  Follower flywheelEastFollower = new Follower(flywheelTopEast.getDeviceID(), false);
+  Follower flywheelWestFollower = new Follower(flywheelTopWest.getDeviceID(), false);


both west flywheel motors should be following top east, and flywheelWestFollower should be:
Follower flywheelWestFollower = new Follower(flywheelTopEast.getDeviceID(), MotorAlignmentValue.Opposed);

Wu-Fan-529 · 2026-05-23T21:52:58Z

+  public AngularVelocity getFlywheelEastVelocity() {
+    return flywheelTopEast.getVelocity().getValue();
+  }
+
+  public AngularVelocity getFlywheelWestVelocity() {
+    return flywheelTopWest.getVelocity().getValue();
+  }


should combine both and only get east

Wu-Fan-529 · 2026-05-23T21:53:57Z

+
+  public void setFlywheelSpeeds(AngularVelocity speed) {
+    flywheelTopEast.setControl(flyWheelVelocityRequest.withVelocity(speed));
+    flywheelTopWest.setControl(flyWheelVelocityRequest.withVelocity(speed));


use follower

fixxed comments

Wu-Fan-529

looks fine to me

AngelaKimmy · 2026-05-23T22:49:55Z

+    return transferRollersEast.getVelocity().getValue();
+  }
+
+  public AngularVelocity getFlywheelEastVelocity() {


Doesn't getFlyWheelSpeeds() already cover this?

Fixed Angela's comment Co-Authored-By: Justinpham17386769 <244249272+Justinpham17386769@users.noreply.github.com> Co-Authored-By: jayden mendoza <244560677+jaymendo670-png@users.noreply.github.com>

I created roters subsytem

7735d20

James Justin

FRCTeam3255-Shared-K1-10 assigned Justinpham17386769 and JAMES-ROMERO123 May 17, 2026

FRCTeam3255-Shared-K1-10 requested a review from a team as a code owner May 17, 2026 03:23

TaylerUva requested a review from Copilot May 22, 2026 23:12

Copilot started reviewing on behalf of TaylerUva May 22, 2026 23:12 View session

Copilot AI reviewed May 22, 2026

View reviewed changes

TaylerUva requested changes May 22, 2026

View reviewed changes

FRCTeam3255-Shared-K1-10 added 2 commits May 22, 2026 19:59

Fixed names and call functions

815d856

Removed "Rollers" for flywheels

610abdc

Wu-Fan-529 reviewed May 23, 2026

View reviewed changes

Added "set" to setter functions

8bf01f4

Wu-Fan-529 reviewed May 23, 2026

View reviewed changes

FRCTeam3255-Shared-K1-10 and others added 4 commits May 22, 2026 21:14

changed device IDs to reflect comp robot

f095185

Merge branch 'main' into create-rotor-subsystem

d8873c6

create_rotors-subsystem

c7f2733

i added followers

create rotors

e689412

added foollowers ansd can check speed

FRCTeam3255-Shared-K1-10 changed the title ~~I created roters subsytem~~ create_rotors_subsystem May 23, 2026

create_rotor_subsystem

72ec09c

added configurationhs

Wu-Fan-529 requested changes May 23, 2026

View reviewed changes

created roters subsystem

48a1175

fixxed comments

Wu-Fan-529 reviewed May 23, 2026

View reviewed changes

AngelaKimmy reviewed May 23, 2026

View reviewed changes

Create rotor subsystem

272afd1

Fixed Angela's comment Co-Authored-By: Justinpham17386769 <244249272+Justinpham17386769@users.noreply.github.com> Co-Authored-By: jayden mendoza <244560677+jaymendo670-png@users.noreply.github.com>

AngelaKimmy approved these changes May 23, 2026

View reviewed changes

jaymendo670-png merged commit 6a32b34 into main May 23, 2026
1 check passed

jaymendo670-png deleted the create-rotor-subsystem branch May 23, 2026 22:57

TaylerUva linked an issue May 24, 2026 that may be closed by this pull request

Create rotor subsystem #2

Closed

4 tasks

		final TalonFX flywheelRollersEast = new TalonFX((rotorIDs.FLYWHEEL_EAST_FOLLOWER));
		final TalonFX flywheelWestFollower = new TalonFX((rotorIDs.TRANSFER_ROLLERS_WEST_CAN));

		public static final int FLYWHEEL_WEST_FOLLOWER = 18;
		public static final int FLYWHEEL_EAST_FOLLOWER = 19;

		final TalonFX flywheelRollersWest = new TalonFX((rotorIDs.FLYWHEEL_ROLLERS_WEST_CAN));
		final TalonFX flywheelRollersEast = new TalonFX((rotorIDs.FLYWHEEL_EAST_FOLLOWER));

		public static final TalonFXConfiguration FLYWHEEL_WEST_FOLLOWER_CONFIGURATION = new TalonFXConfiguration();

		public static final double STOP = 0;

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FRCTeam3255-Shared-K1-10 commented May 17, 2026

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TaylerUva commented May 22, 2026

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Wu-Fan-529 May 23, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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