From 2f0ce7de076efc658ac7662dd3f6c641bc0d6b69 Mon Sep 17 00:00:00 2001
From: FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Fri, 12 Jun 2026 19:47:09 -0700
Subject: [PATCH 1/9] Fix redundant and confusing constants

---
 .../robot/commands/states/EjectingHopper.java |  4 ++--
 .../commands/states/ReversingShooter.java     |  4 ++--
 .../frc/robot/commands/states/Shooting.java   |  2 +-
 .../commands/states/preps/PrepCorner.java     |  2 +-
 .../robot/commands/states/preps/PrepHub.java  |  2 +-
 .../states/preps/PrepNeutralToAlliance.java   |  2 +-
 .../states/preps/PrepOpponentToAlliance.java  |  2 +-
 .../commands/states/preps/PrepTower.java      |  2 +-
 .../commands/states/preps/PrepTrench.java     |  2 +-
 .../java/frc/robot/constants/ConstRotors.java | 23 +++++++++----------
 10 files changed, 22 insertions(+), 23 deletions(-)

diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java
index 5fa1ee1..116aefb 100644
--- a/src/main/java/frc/robot/commands/states/EjectingHopper.java
+++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java
@@ -27,9 +27,9 @@ public EjectingHopper() {
   public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER);
     RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
-    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED);
     RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_SPEED);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/commands/states/ReversingShooter.java b/src/main/java/frc/robot/commands/states/ReversingShooter.java
index b785d2b..6bf56dd 100644
--- a/src/main/java/frc/robot/commands/states/ReversingShooter.java
+++ b/src/main/java/frc/robot/commands/states/ReversingShooter.java
@@ -19,8 +19,8 @@ public ReversingShooter() {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_SHOOTING_SPEED);
-    RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_SHOOTING_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_SHOOTER_SPEED);
+    RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_SHOOTER_SPEED);
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.REVERSING_SHOOTER);
   }
 
diff --git a/src/main/java/frc/robot/commands/states/Shooting.java b/src/main/java/frc/robot/commands/states/Shooting.java
index d4c0916..2461c29 100644
--- a/src/main/java/frc/robot/commands/states/Shooting.java
+++ b/src/main/java/frc/robot/commands/states/Shooting.java
@@ -28,7 +28,7 @@ public void initialize() {
   @Override
   public void execute() {
     RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_ROLLERS_SPEED);
 
   }
 
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepCorner.java b/src/main/java/frc/robot/commands/states/preps/PrepCorner.java
index 699f925..74372d9 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepCorner.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepCorner.java
@@ -12,7 +12,7 @@
 public class PrepCorner extends BasePrep {
   /** Creates a new PrepNonOutpost. */
   public PrepCorner() {
-    super(ConstRotors.FLYWHEEL_CORNER_SPEED, ConstMotion.HOOD_CORNER_ANGLE, RobotState.PREP_CORNER);
+    super(ConstRotors.FLYWHEEL_PREP_CORNER_SPEED, ConstMotion.HOOD_CORNER_ANGLE, RobotState.PREP_CORNER);
 
     // Use addRequirements() here to declare subsystem dependencies.
   }
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepHub.java b/src/main/java/frc/robot/commands/states/preps/PrepHub.java
index 6a62554..215f604 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepHub.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepHub.java
@@ -14,7 +14,7 @@ public class PrepHub extends BasePrep {
   /** Creates a new PrepDepot. */
   public PrepHub() {
 
-    super(ConstRotors.FLYWHEEL_HUB_SPEED, ConstMotion.HOOD_HUB_ANGLE, RobotState.PREP_HUB);
+    super(ConstRotors.FLYWHEEL_PREP_HUB_SPEED, ConstMotion.HOOD_HUB_ANGLE, RobotState.PREP_HUB);
 
     // setState
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java b/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java
index 425fd41..25dc289 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java
@@ -14,7 +14,7 @@ public class PrepNeutralToAlliance extends BasePrep {
   /** Creates a new PrepNeautralToAlliance. */
   public PrepNeutralToAlliance() {
 
-    super(ConstRotors.FLYWHEEL_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_NEUTRAL_TO_ALLIANCE_ANGLE,
+    super(ConstRotors.FLYWHEEL_PREP_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_NEUTRAL_TO_ALLIANCE_ANGLE,
         RobotState.PREP_NEUTRAL_TO_ALLIANCE);
 
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
index 4b729e7..bfedb6d 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
@@ -13,7 +13,7 @@ public class PrepOpponentToAlliance extends BasePrep {
   /** Creates a new PrepOpponentToAlliance. */
   public PrepOpponentToAlliance() {
 
-    super(ConstRotors.FLYWHEEL_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_OPPENENT_TO_ALLIANCE_ANGLE,
+    super(ConstRotors.FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_OPPENENT_TO_ALLIANCE_ANGLE,
         RobotState.PREP_OPPONENT_TO_ALLIANCE);
 
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepTower.java b/src/main/java/frc/robot/commands/states/preps/PrepTower.java
index f0bbc6f..b8cc352 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepTower.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepTower.java
@@ -12,7 +12,7 @@ public class PrepTower extends BasePrep {
   /** Creates a new PrepOutpost. */
   public PrepTower() {
 
-    super(ConstRotors.FLYWHEEL_TOWER_SPEED, ConstMotion.HOOD_TOWER_ANGLE, RobotState.PREP_TOWER);
+    super(ConstRotors.FLYWHEEL_PREP_TOWER_SPEED, ConstMotion.HOOD_TOWER_ANGLE, RobotState.PREP_TOWER);
 
     // Use addRequirements() here to declare subsystem dependencies.
   }
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepTrench.java b/src/main/java/frc/robot/commands/states/preps/PrepTrench.java
index 693211e..b0d2322 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepTrench.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepTrench.java
@@ -12,7 +12,7 @@ public class PrepTrench extends BasePrep {
   /** Creates a new PrepTrench. */
   public PrepTrench() {
 
-    super(ConstRotors.FLYWHEEL_TRENCH_SPEED, ConstMotion.HOOD_TRENCH_ANGLE, RobotState.PREP_TRENCH);
+    super(ConstRotors.FLYWHEEL_PREP_TRENCH_SPEED, ConstMotion.HOOD_TRENCH_ANGLE, RobotState.PREP_TRENCH);
 
     // Use addRequirements() here to declare subsystem dependencies.
   }
diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java
index 64c3624..bdd5200 100644
--- a/src/main/java/frc/robot/constants/ConstRotors.java
+++ b/src/main/java/frc/robot/constants/ConstRotors.java
@@ -22,24 +22,23 @@ public class ConstRotors {
 
   public static final TalonFXConfiguration FLYWHEEL_EAST_CONFIGURATION = new TalonFXConfiguration();
   public static final TalonFXConfiguration FLYWHEEL_WEST_CONFIGURATION = new TalonFXConfiguration();
-  public static final AngularVelocity FLYWHEEL_CORNER_SPEED = Units.RPM.of(4250);
-  public static final AngularVelocity FLYWHEEL_HUB_SPEED = Units.RPM.of(4000);
-  public static final AngularVelocity FLYWHEEL_TRENCH_SPEED = Units.RPM.of(4000);
-  public static final AngularVelocity FLYWHEEL_TOWER_SPEED = Units.RPM.of(4000);
-  public static final AngularVelocity FLYWHEEL_ANYWHERE_SPEED = Units.RPM.of(4100);
-  public static final AngularVelocity FLYWHEEL_NEUTRAL_TO_ALLIANCE_SPEED = Units.RPM.of(3700);
-  public static final AngularVelocity FLYWHEEL_OPPONENT_TO_ALLIANCE_SPEED = Units.RPM.of(6400);
+  public static final AngularVelocity FLYWHEEL_PREP_CORNER_SPEED = Units.RPM.of(4250);
+  public static final AngularVelocity FLYWHEEL_PREP_HUB_SPEED = Units.RPM.of(4000);
+  public static final AngularVelocity FLYWHEEL_PREP_TRENCH_SPEED = Units.RPM.of(4000);
+  public static final AngularVelocity FLYWHEEL_PREP_TOWER_SPEED = Units.RPM.of(4000);
+  public static final AngularVelocity FLYWHEEL_PREP_ANYWHERE_SPEED = Units.RPM.of(4100);
+  public static final AngularVelocity FLYWHEEL_PREP_NEUTRAL_TO_ALLIANCE_SPEED = Units.RPM.of(3700);
+  public static final AngularVelocity FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED = Units.RPM.of(6400);
 
   public static final double INTAKE_ROLLERS_SPEED = 1;
   public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000);
-  // public static final AngularVelocity INTAKE_ROLLER_SPEED = Units.RPM.of(2000);
-  public static final double SERIALIZER_SHOOTING_SPEED = 1;
+  public static final double SERIALIZER_ROLLERS_SPEED = 1;
   public static final double STOP = 0;
   public static final AngularVelocity TRANSFER_ROLLERS_SPEED = Units.RPM.of(3400);
   public static final AngularVelocity FLYWHEEL_TOLERANCE = Units.RPM.of(100);
-  public static final double REVERSE_SHOOTING_SPEED = -1;
-  public static final double REVERSE_SERIALIZER_ROLLERS_SPEED = -1;
-  public static final double REVERSE_INTAKE_ROLLERS_SPEED = -1;
+  public static final double REVERSE_SHOOTER_SPEED = -1;
+  public static final double EJECTING_SERIALIZER_ROLLERS_SPEED = -1;
+  public static final double EJECTING_INTAKE_ROLLERS_SPEED = -1;
   public static final double REVERSE_TRANSFER_ROLLERS_SPEED = -1;
 
   static {

From ad866507fa7f22a603673e7541d4b52f82d9ddce Mon Sep 17 00:00:00 2001
From: FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Fri, 12 Jun 2026 19:52:10 -0700
Subject: [PATCH 2/9] Fix redundant and confusing constants

---
 .../robot/commands/states/preps/PrepCorner.java    |  2 +-
 .../frc/robot/commands/states/preps/PrepHub.java   |  2 +-
 .../states/preps/PrepNeutralToAlliance.java        |  2 +-
 .../states/preps/PrepOpponentToAlliance.java       |  2 +-
 .../frc/robot/commands/states/preps/PrepTower.java |  2 +-
 .../robot/commands/states/preps/PrepTrench.java    |  2 +-
 src/main/java/frc/robot/constants/ConstMotion.java | 14 +++++++-------
 7 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/main/java/frc/robot/commands/states/preps/PrepCorner.java b/src/main/java/frc/robot/commands/states/preps/PrepCorner.java
index 74372d9..b22d073 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepCorner.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepCorner.java
@@ -12,7 +12,7 @@
 public class PrepCorner extends BasePrep {
   /** Creates a new PrepNonOutpost. */
   public PrepCorner() {
-    super(ConstRotors.FLYWHEEL_PREP_CORNER_SPEED, ConstMotion.HOOD_CORNER_ANGLE, RobotState.PREP_CORNER);
+    super(ConstRotors.FLYWHEEL_PREP_CORNER_SPEED, ConstMotion.HOOD_PREP_CORNER_ANGLE, RobotState.PREP_CORNER);
 
     // Use addRequirements() here to declare subsystem dependencies.
   }
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepHub.java b/src/main/java/frc/robot/commands/states/preps/PrepHub.java
index 215f604..24ee455 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepHub.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepHub.java
@@ -14,7 +14,7 @@ public class PrepHub extends BasePrep {
   /** Creates a new PrepDepot. */
   public PrepHub() {
 
-    super(ConstRotors.FLYWHEEL_PREP_HUB_SPEED, ConstMotion.HOOD_HUB_ANGLE, RobotState.PREP_HUB);
+    super(ConstRotors.FLYWHEEL_PREP_HUB_SPEED, ConstMotion.HOOD_PREP_HUB_ANGLE, RobotState.PREP_HUB);
 
     // setState
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java b/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java
index 25dc289..fac6470 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java
@@ -14,7 +14,7 @@ public class PrepNeutralToAlliance extends BasePrep {
   /** Creates a new PrepNeautralToAlliance. */
   public PrepNeutralToAlliance() {
 
-    super(ConstRotors.FLYWHEEL_PREP_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_NEUTRAL_TO_ALLIANCE_ANGLE,
+    super(ConstRotors.FLYWHEEL_PREP_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_PREP_NEUTRAL_TO_ALLIANCE_ANGLE,
         RobotState.PREP_NEUTRAL_TO_ALLIANCE);
 
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
index bfedb6d..4f26483 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
@@ -13,7 +13,7 @@ public class PrepOpponentToAlliance extends BasePrep {
   /** Creates a new PrepOpponentToAlliance. */
   public PrepOpponentToAlliance() {
 
-    super(ConstRotors.FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_OPPENENT_TO_ALLIANCE_ANGLE,
+    super(ConstRotors.FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_PREP_OPPENENT_TO_ALLIANCE_ANGLE,
         RobotState.PREP_OPPONENT_TO_ALLIANCE);
 
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepTower.java b/src/main/java/frc/robot/commands/states/preps/PrepTower.java
index b8cc352..7d3e389 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepTower.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepTower.java
@@ -12,7 +12,7 @@ public class PrepTower extends BasePrep {
   /** Creates a new PrepOutpost. */
   public PrepTower() {
 
-    super(ConstRotors.FLYWHEEL_PREP_TOWER_SPEED, ConstMotion.HOOD_TOWER_ANGLE, RobotState.PREP_TOWER);
+    super(ConstRotors.FLYWHEEL_PREP_TOWER_SPEED, ConstMotion.HOOD_PREP_TOWER_ANGLE, RobotState.PREP_TOWER);
 
     // Use addRequirements() here to declare subsystem dependencies.
   }
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepTrench.java b/src/main/java/frc/robot/commands/states/preps/PrepTrench.java
index b0d2322..514a367 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepTrench.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepTrench.java
@@ -12,7 +12,7 @@ public class PrepTrench extends BasePrep {
   /** Creates a new PrepTrench. */
   public PrepTrench() {
 
-    super(ConstRotors.FLYWHEEL_PREP_TRENCH_SPEED, ConstMotion.HOOD_TRENCH_ANGLE, RobotState.PREP_TRENCH);
+    super(ConstRotors.FLYWHEEL_PREP_TRENCH_SPEED, ConstMotion.HOOD_PREP_TRENCH_ANGLE, RobotState.PREP_TRENCH);
 
     // Use addRequirements() here to declare subsystem dependencies.
   }
diff --git a/src/main/java/frc/robot/constants/ConstMotion.java b/src/main/java/frc/robot/constants/ConstMotion.java
index d367b3f..4d5652c 100644
--- a/src/main/java/frc/robot/constants/ConstMotion.java
+++ b/src/main/java/frc/robot/constants/ConstMotion.java
@@ -26,13 +26,13 @@ public class ConstMotion {
   public static final Angle HOOD_PIVOT_ANGLE_RETRACT = Degrees.of(0);
   public static final double STOP = 0;
   public static final Angle HOOD_NONE_ANGLE = Degrees.of(0);
-  public static final Angle HOOD_TRENCH_ANGLE = Units.Degrees.of(13);
-  public static final Angle HOOD_CORNER_ANGLE = Units.Degrees.of(23.5);
-  public static final Angle HOOD_TOWER_ANGLE = Units.Degrees.of(14);
-  public static final Angle HOOD_HUB_ANGLE = Units.Degrees.of(9.5);
-  public static final Angle HOOD_ANYWHERE_ANGLE = Units.Degrees.of(45);
-  public static final Angle HOOD_NEUTRAL_TO_ALLIANCE_ANGLE = Units.Degrees.of(45);
-  public static final Angle HOOD_OPPENENT_TO_ALLIANCE_ANGLE = Units.Degrees.of(37);
+  public static final Angle HOOD_PREP_TRENCH_ANGLE = Units.Degrees.of(13);
+  public static final Angle HOOD_PREP_CORNER_ANGLE = Units.Degrees.of(23.5);
+  public static final Angle HOOD_PREP_TOWER_ANGLE = Units.Degrees.of(14);
+  public static final Angle HOOD_PREP_HUB_ANGLE = Units.Degrees.of(9.5);
+  public static final Angle HOOD_PREP_ANYWHERE_ANGLE = Units.Degrees.of(45);
+  public static final Angle HOOD_PREP_NEUTRAL_TO_ALLIANCE_ANGLE = Units.Degrees.of(45);
+  public static final Angle HOOD_PREP_OPPENENT_TO_ALLIANCE_ANGLE = Units.Degrees.of(37);
 
   static {
 

From 5c23e7b97fa2a0484ff2d8e8f49b5d0303999af5 Mon Sep 17 00:00:00 2001
From: FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Fri, 12 Jun 2026 19:57:40 -0700
Subject: [PATCH 3/9] DELETED COMMENT

---
 src/main/java/frc/robot/constants/ConstRotors.java | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java
index bdd5200..68cbd0b 100644
--- a/src/main/java/frc/robot/constants/ConstRotors.java
+++ b/src/main/java/frc/robot/constants/ConstRotors.java
@@ -43,9 +43,6 @@ public class ConstRotors {
 
   static {
 
-    // SHOOTER_TRANSFER_EAST_CONFIGURATION.MotorOutput.NeutralMode =
-    // NeutralModeValue.Coast;/
-
     FLYWHEEL_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
     FLYWHEEL_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
     FLYWHEEL_WEST_CONFIGURATION.Slot0.kS = 0.14;

From 3f9c19f555e716bbf43d108185ca651d19f56e14 Mon Sep 17 00:00:00 2001
From: FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Fri, 12 Jun 2026 20:06:46 -0700
Subject: [PATCH 4/9] Fix redundant and confusing constants

---
 src/main/java/frc/robot/commands/states/Shooting.java | 2 +-
 src/main/java/frc/robot/constants/ConstRotors.java    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/states/Shooting.java b/src/main/java/frc/robot/commands/states/Shooting.java
index 2461c29..fc5a422 100644
--- a/src/main/java/frc/robot/commands/states/Shooting.java
+++ b/src/main/java/frc/robot/commands/states/Shooting.java
@@ -28,7 +28,7 @@ public void initialize() {
   @Override
   public void execute() {
     RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTER_ROLLERS_SPEED);
 
   }
 
diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java
index 68cbd0b..00135cf 100644
--- a/src/main/java/frc/robot/constants/ConstRotors.java
+++ b/src/main/java/frc/robot/constants/ConstRotors.java
@@ -32,7 +32,7 @@ public class ConstRotors {
 
   public static final double INTAKE_ROLLERS_SPEED = 1;
   public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000);
-  public static final double SERIALIZER_ROLLERS_SPEED = 1;
+  public static final double SERIALIZER_SHOOTER_ROLLERS_SPEED = 1;
   public static final double STOP = 0;
   public static final AngularVelocity TRANSFER_ROLLERS_SPEED = Units.RPM.of(3400);
   public static final AngularVelocity FLYWHEEL_TOLERANCE = Units.RPM.of(100);

From bbf8b1d00b10cce9f736e8561997eb7d4b70892a Mon Sep 17 00:00:00 2001
From: FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Fri, 12 Jun 2026 20:13:43 -0700
Subject: [PATCH 5/9] Spelling error

---
 .../frc/robot/commands/states/preps/PrepOpponentToAlliance.java | 2 +-
 src/main/java/frc/robot/constants/ConstMotion.java              | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
index 4f26483..a38acd0 100644
--- a/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
@@ -13,7 +13,7 @@ public class PrepOpponentToAlliance extends BasePrep {
   /** Creates a new PrepOpponentToAlliance. */
   public PrepOpponentToAlliance() {
 
-    super(ConstRotors.FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_PREP_OPPENENT_TO_ALLIANCE_ANGLE,
+    super(ConstRotors.FLYWHEEL_PREP_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_PREP_OPPONENT_TO_ALLIANCE_ANGLE,
         RobotState.PREP_OPPONENT_TO_ALLIANCE);
 
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc/robot/constants/ConstMotion.java b/src/main/java/frc/robot/constants/ConstMotion.java
index 4d5652c..2956bae 100644
--- a/src/main/java/frc/robot/constants/ConstMotion.java
+++ b/src/main/java/frc/robot/constants/ConstMotion.java
@@ -32,7 +32,7 @@ public class ConstMotion {
   public static final Angle HOOD_PREP_HUB_ANGLE = Units.Degrees.of(9.5);
   public static final Angle HOOD_PREP_ANYWHERE_ANGLE = Units.Degrees.of(45);
   public static final Angle HOOD_PREP_NEUTRAL_TO_ALLIANCE_ANGLE = Units.Degrees.of(45);
-  public static final Angle HOOD_PREP_OPPENENT_TO_ALLIANCE_ANGLE = Units.Degrees.of(37);
+  public static final Angle HOOD_PREP_OPPONENT_TO_ALLIANCE_ANGLE = Units.Degrees.of(37);
 
   static {
 

From cdb80439ebe9195354b6cced7304cd6b3dcf746d Mon Sep 17 00:00:00 2001
From: FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared-K1-10@users.noreply.github.com>
Date: Fri, 12 Jun 2026 21:42:25 -0700
Subject: [PATCH 6/9] fixing redundant names

Co-Authored-By: jayden mendoza <244560677+jaymendo670-png@users.noreply.github.com>
---
 src/main/java/frc/robot/commands/DriveManual.java         | 1 -
 .../java/frc/robot/commands/states/EjectingHopper.java    | 4 ++--
 .../java/frc/robot/commands/states/ReversingShooter.java  | 4 ++--
 src/main/java/frc/robot/commands/states/Shooting.java     | 2 +-
 src/main/java/frc/robot/constants/ConstRotors.java        | 8 ++++----
 5 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/commands/DriveManual.java b/src/main/java/frc/robot/commands/DriveManual.java
index 6d0249b..5aba99f 100644
--- a/src/main/java/frc/robot/commands/DriveManual.java
+++ b/src/main/java/frc/robot/commands/DriveManual.java
@@ -15,7 +15,6 @@
 import frc.robot.constants.ConstDrivetrain;
 import frc.robot.constants.ConstField;
 import frc.robot.subsystems.DriverStateMachine.DriverState;
-import frc.robot.subsystems.Drivetrain;
 
 public class DriveManual extends Command {
   DoubleSupplier xAxis, yAxis, rotationXAxis;
diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java
index 116aefb..6a5c283 100644
--- a/src/main/java/frc/robot/commands/states/EjectingHopper.java
+++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java
@@ -28,8 +28,8 @@ public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER);
     RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
     RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_EAST_SPEED);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/commands/states/ReversingShooter.java b/src/main/java/frc/robot/commands/states/ReversingShooter.java
index 6bf56dd..3675b03 100644
--- a/src/main/java/frc/robot/commands/states/ReversingShooter.java
+++ b/src/main/java/frc/robot/commands/states/ReversingShooter.java
@@ -19,8 +19,8 @@ public ReversingShooter() {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_SHOOTER_SPEED);
-    RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_SHOOTER_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_FLYWHEEL_SPEED);
+    RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_FLYWHEEL_SPEED);
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.REVERSING_SHOOTER);
   }
 
diff --git a/src/main/java/frc/robot/commands/states/Shooting.java b/src/main/java/frc/robot/commands/states/Shooting.java
index caf8790..ddf6334 100644
--- a/src/main/java/frc/robot/commands/states/Shooting.java
+++ b/src/main/java/frc/robot/commands/states/Shooting.java
@@ -23,7 +23,7 @@ public Shooting() {
   public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState((StateMachine.RobotState.SHOOTING));
     RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTER_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_ROLLERS_SPEED);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java
index 00135cf..f012360 100644
--- a/src/main/java/frc/robot/constants/ConstRotors.java
+++ b/src/main/java/frc/robot/constants/ConstRotors.java
@@ -32,14 +32,14 @@ public class ConstRotors {
 
   public static final double INTAKE_ROLLERS_SPEED = 1;
   public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000);
-  public static final double SERIALIZER_SHOOTER_ROLLERS_SPEED = 1;
+  public static final double SERIALIZER_ROLLERS_SPEED = 1;
   public static final double STOP = 0;
   public static final AngularVelocity TRANSFER_ROLLERS_SPEED = Units.RPM.of(3400);
   public static final AngularVelocity FLYWHEEL_TOLERANCE = Units.RPM.of(100);
-  public static final double REVERSE_SHOOTER_SPEED = -1;
+  public static final double REVERSE_FLYWHEEL_SPEED = -1;
   public static final double EJECTING_SERIALIZER_ROLLERS_SPEED = -1;
-  public static final double EJECTING_INTAKE_ROLLERS_SPEED = -1;
-  public static final double REVERSE_TRANSFER_ROLLERS_SPEED = -1;
+  public static final double EJECTING_INTAKE_ROLLERS_EAST_SPEED = -1;
+  public static final double REVERSE_TRANSFER_ROLLERS_EAST_SPEED = -1;
 
   static {
 

From 63dc29cbb04a78a2f501723361674ea0ba5aa1e7 Mon Sep 17 00:00:00 2001
From: FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Sat, 13 Jun 2026 13:43:03 -0700
Subject: [PATCH 7/9] Fix redundant and confusing constants

---
 src/main/java/frc/robot/commands/states/EjectingHopper.java   | 4 ++--
 src/main/java/frc/robot/commands/states/ReversingShooter.java | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java
index 6a5c283..f5b2b12 100644
--- a/src/main/java/frc/robot/commands/states/EjectingHopper.java
+++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java
@@ -27,9 +27,9 @@ public EjectingHopper() {
   public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER);
     RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
-    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_EAST_SPEED);
     RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED);
-    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_EAST_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/commands/states/ReversingShooter.java b/src/main/java/frc/robot/commands/states/ReversingShooter.java
index 3675b03..b3827f3 100644
--- a/src/main/java/frc/robot/commands/states/ReversingShooter.java
+++ b/src/main/java/frc/robot/commands/states/ReversingShooter.java
@@ -19,7 +19,7 @@ public ReversingShooter() {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_FLYWHEEL_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED);
     RobotContainer.rotorsInstance.setFlywheelPercentOutput(ConstRotors.REVERSE_FLYWHEEL_SPEED);
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.REVERSING_SHOOTER);
   }

From f60b222e9ca0be1bcbbec66d2ba44b2a9bdf55ee Mon Sep 17 00:00:00 2001
From: FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Sat, 13 Jun 2026 13:50:50 -0700
Subject: [PATCH 8/9] Fixed eject hopper constant

---
 src/main/java/frc/robot/commands/states/EjectingHopper.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java
index f5b2b12..a165731 100644
--- a/src/main/java/frc/robot/commands/states/EjectingHopper.java
+++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java
@@ -27,9 +27,9 @@ public EjectingHopper() {
   public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER);
     RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
-    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_EAST_SPEED);
+    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED);
     RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED);
-    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

From ffc9b8693eb10c50ea5a73317f3630f53f981457 Mon Sep 17 00:00:00 2001
From: FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Sat, 13 Jun 2026 13:54:39 -0700
Subject: [PATCH 9/9] fixed eject hopper constant

---
 src/main/java/frc/robot/commands/states/EjectingHopper.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java
index a165731..843105a 100644
--- a/src/main/java/frc/robot/commands/states/EjectingHopper.java
+++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java
@@ -27,8 +27,8 @@ public EjectingHopper() {
   public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER);
     RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
-    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED);
-    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED);
+    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.EJECTING_INTAKE_ROLLERS_EAST_SPEED);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.EJECTING_SERIALIZER_ROLLERS_SPEED);
     RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_EAST_SPEED);
   }