Created timer for robot agitation - #61
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Co-Authored-By: BrodyKarr <145169276+BrodyKarr@users.noreply.github.com> Co-Authored-By: Justinpham17386769 <244249272+Justinpham17386769@users.noreply.github.com> Co-Authored-By: jayden mendoza <244560677+jaymendo670-png@users.noreply.github.com>
TaylerUva
requested changes
Jun 13, 2026
AngelaKimmy
reviewed
Jun 13, 2026
TaylerUva
requested changes
Jun 13, 2026
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Pull request overview
This PR adds an “intake pivot agitation” behavior during the Shooting command by periodically toggling the intake pivot angle on a timer, and centralizes the relevant timing/tolerance values in ConstMotion. It also removes an unused/duplicated “intake pivot at angle” helper from the Motion subsystem.
Changes:
- Add
INTAKE_PIVOT_TOLERANCEandINTAKE_PIVOT_AGITATION_TIMEconstants toConstMotion. - Update
Shootingto use aTimerto alternate the intake pivot between deploy/retract angles while shooting. - Remove the
isIntakePivotAtAngle(...)helper and associated state fromMotion.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
src/main/java/frc/robot/subsystems/Motion.java |
Removes the intake-pivot “at angle” helper/state. |
src/main/java/frc/robot/constants/ConstMotion.java |
Adds constants used to parameterize agitation timing/tolerance. |
src/main/java/frc/robot/commands/states/Shooting.java |
Implements timer-driven intake pivot agitation during shooting and resets pivot/timer on end. |
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TaylerUva
approved these changes
Jun 13, 2026
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