made zeroing for intake and hood by BrodyKarr · Pull Request #165 · FRCTeam3255/2026_Robot_Code

BrodyKarr · 2026-02-16T19:09:22Z

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Copilot

Pull request overview

This PR implements motor zeroing functionality for the intake pivot and hood subsystems in an FRC robot. Zeroing is a critical initialization procedure that establishes a known reference position for mechanisms without absolute encoders by driving them to a hard stop and resetting the sensor position.

Changes:

Added support for both automatic and manual zeroing modes with velocity-based stall detection
Integrated zeroing commands into robot lifecycle (autonomous, teleop, and disabled modes)
Extended Motion subsystem with voltage control, sensor position reset, and software limit management

Reviewed changes

Copilot reviewed 8 out of 8 changed files in this pull request and generated 18 comments.

Show a summary per file

File	Description
Motion.java	Added voltage control methods, velocity getters, sensor position reset, software limit control, and zeroing state flags
ConstMotion.java	Defined zeroing constants including voltages, velocity thresholds, timeouts, and zero positions (with TODOs)
ZeroIntake.java	New command for automatic intake pivot zeroing using velocity-based stall detection
ZeroHood.java	New command for automatic hood zeroing using velocity-based stall detection
ManualZeroIntake.java	New command for manual intake pivot zeroing with user-controlled motion and delta velocity detection
ManualZeroHood.java	New command for manual hood zeroing with user-controlled motion and delta velocity detection
RobotContainer.java	Created composed zeroing commands (zeroSubsystems and manualZeroSubsystems) and added allZeroed() helper
Robot.java	Integrated zeroing into robot lifecycle: manual zeroing in disabled mode, automatic zeroing before autonomous/teleop if needed

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Copilot · 2026-02-16T19:30:38Z

+  public void setIntakePivotSoftwareLimits(boolean reverseLimitEnable, boolean forwardLimitEnable) {
+    ConstMotion.INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ReverseSoftLimitEnable = reverseLimitEnable;
+    ConstMotion.INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ForwardSoftLimitEnable = forwardLimitEnable;
+    intakePivot.getConfigurator().apply(ConstMotion.INTAKE_PIVOT_CONFIGURATION);
+  }


Modifying shared configuration objects is not thread-safe and may have unintended side effects. The methods directly mutate ConstMotion.INTAKE_PIVOT_CONFIGURATION which is a shared constant. If multiple instances or threads access this, it could lead to race conditions. Consider creating a copy of the configuration, modifying it, and then applying it to avoid mutating shared state.

Copilot · 2026-02-16T19:30:40Z

+        boolean deltaRotorVelocity = RobotContainer.motionInstance.getIntakePivotRotorVelocity()
+            .minus(lastRotorVelocity)
+            .lte(ConstMotion.MANUAL_ZEROING_DELTA_VELOCITY);
+
+        if (deltaRotorVelocity && lastRotorVelocity.lte(Units.RotationsPerSecond.of(0))) {
+          zeroingSuccess = true;
+        } else {
+          lastRotorVelocity = RobotContainer.motionInstance.getIntakePivotRotorVelocity();


The logic for detecting zeroing completion appears incorrect. The condition checks if the velocity delta is less than or equal to MANUAL_ZEROING_DELTA_VELOCITY and if lastRotorVelocity is less than or equal to 0. However, the delta calculation on line 53-55 computes (current - last), which will be negative if velocity is decreasing. This means deltaRotorVelocity will be true when velocity decreases by more than 5 RPS, not when it's stable. Consider using the absolute value of the delta or reversing the logic to properly detect when the mechanism has stalled against a hard stop.

Suggested change

boolean deltaRotorVelocity = RobotContainer.motionInstance.getIntakePivotRotorVelocity()

.minus(lastRotorVelocity)

.lte(ConstMotion.MANUAL_ZEROING_DELTA_VELOCITY);

if (deltaRotorVelocity && lastRotorVelocity.lte(Units.RotationsPerSecond.of(0))) {

zeroingSuccess = true;

} else {

lastRotorVelocity = RobotContainer.motionInstance.getIntakePivotRotorVelocity();

AngularVelocity currentRotorVelocity = RobotContainer.motionInstance.getIntakePivotRotorVelocity();

boolean deltaRotorVelocity = lastRotorVelocity

.minus(currentRotorVelocity)

.lte(ConstMotion.MANUAL_ZEROING_DELTA_VELOCITY);

if (deltaRotorVelocity && lastRotorVelocity.lte(Units.RotationsPerSecond.of(0))) {

zeroingSuccess = true;

} else {

lastRotorVelocity = currentRotorVelocity;

Copilot · 2026-02-16T19:30:41Z

+        boolean deltaRotorVelocity = RobotContainer.motionInstance.getHoodRotorVelocity()
+            .minus(lastRotorVelocity)
+            .lte(ConstMotion.MANUAL_ZEROING_DELTA_VELOCITY);
+
+        if (deltaRotorVelocity && lastRotorVelocity.lte(Units.RotationsPerSecond.of(0))) {
+          zeroingSuccess = true;
+        } else {
+          lastRotorVelocity = RobotContainer.motionInstance.getHoodRotorVelocity();


The logic for detecting zeroing completion appears incorrect. The condition checks if the velocity delta is less than or equal to MANUAL_ZEROING_DELTA_VELOCITY and if lastRotorVelocity is less than or equal to 0. However, the delta calculation on line 53-55 computes (current - last), which will be negative if velocity is decreasing. This means deltaRotorVelocity will be true when velocity decreases by more than 5 RPS, not when it's stable. Consider using the absolute value of the delta or reversing the logic to properly detect when the mechanism has stalled against a hard stop.

Suggested change

boolean deltaRotorVelocity = RobotContainer.motionInstance.getHoodRotorVelocity()

.minus(lastRotorVelocity)

.lte(ConstMotion.MANUAL_ZEROING_DELTA_VELOCITY);

if (deltaRotorVelocity && lastRotorVelocity.lte(Units.RotationsPerSecond.of(0))) {

zeroingSuccess = true;

} else {

lastRotorVelocity = RobotContainer.motionInstance.getHoodRotorVelocity();

AngularVelocity currentRotorVelocity = RobotContainer.motionInstance.getHoodRotorVelocity();

AngularVelocity deltaRotorVelocityMeasure = lastRotorVelocity.minus(currentRotorVelocity);

boolean deltaRotorVelocity = deltaRotorVelocityMeasure

.lte(ConstMotion.MANUAL_ZEROING_DELTA_VELOCITY);

if (deltaRotorVelocity && lastRotorVelocity.lte(Units.RotationsPerSecond.of(0))) {

zeroingSuccess = true;

} else {

lastRotorVelocity = currentRotorVelocity;

@TaylerUva not sure about this

Copilot · 2026-02-16T19:30:41Z

      () -> stateMachineInstance.tryState(RobotState.NONE));

+  Command zeroSubsystems = new ParallelCommandGroup(
+      new ZeroHood().withTimeout(ConstMotion.ZEROING_TIMEOUT.in(Units.Seconds)),


Missing condition for intake pivot zeroing. Unlike ZeroHood, ZeroIntake includes an onlyIf check to skip zeroing if already zeroed (line 100). However, ZeroHood at line 99 has no such check and will always attempt to zero even if hasHoodZeroed is true. This creates an inconsistency and unnecessary wear on the hood mechanism. Consider adding .onlyIf(() -> !RobotContainer.motionInstance.hasHoodZeroed) to the ZeroHood command for consistency.

Suggested change

new ZeroHood().withTimeout(ConstMotion.ZEROING_TIMEOUT.in(Units.Seconds)),

new ZeroHood().onlyIf(() -> !RobotContainer.motionInstance.hasHoodZeroed)

.withTimeout(ConstMotion.ZEROING_TIMEOUT.in(Units.Seconds)),

…ot_Code into add-zeroing

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

made zeroing for intake and hood

410ee04

BrodyKarr requested a review from a team as a code owner February 16, 2026 19:09

BrodyKarr linked an issue Feb 16, 2026 that may be closed by this pull request

Add zeroing for intake and hood #158

Open

BrodyKarr enabled auto-merge (squash) February 16, 2026 19:09

AngelaKimmy reviewed Feb 16, 2026

View reviewed changes

Comment thread src/main/java/frc/robot/Robot.java Outdated

TaylerUva requested a review from Copilot February 16, 2026 19:25

Copilot started reviewing on behalf of TaylerUva February 16, 2026 19:25 View session

Copilot AI reviewed Feb 16, 2026

View reviewed changes

BrodyKarr and others added 6 commits February 16, 2026 13:49

Merge branch 'main' into add-zeroing

43f6776

added requirements & turning off limits when zeroing manually

9741b7e

Merge branch 'add-zeroing' of https://github.com/FRCTeam3255/2026_Rob…

42569b0

…ot_Code into add-zeroing

added revised and thumbs upped comments

6d827e9

made the code able to simulate

d22813f

Merge branch 'main' into add-zeroing

b1d0567

FRCTeam3255 deleted a comment from BrodyKarr Feb 22, 2026

Update src/main/java/frc/robot/commands/zeroing/ManualZeroIntake.java

d440511

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

FRCTeam3255 deleted a comment from Copilot AI Feb 27, 2026

TaylerUva requested changes Feb 27, 2026

View reviewed changes

TaylerUva marked this pull request as draft February 28, 2026 00:14

auto-merge was automatically disabled February 28, 2026 00:14
Pull request was converted to draft

BrodyKarr added 6 commits February 27, 2026 19:54

naming conventions

40809b8

Merge branch 'main' into add-zeroing

1ccdad4

optimizations

97247de

Merge branch 'main' into add-zeroing

8c3d0fb

Merge branch 'main' into add-zeroing

c199cf0

made the zeroing logic more readable

dec1eb5

BrodyKarr marked this pull request as ready for review March 21, 2026 17:53

Merge branch 'main' into add-zeroing

2ead4a4

BrodyKarr enabled auto-merge (squash) March 21, 2026 17:53

	new ZeroHood().withTimeout(ConstMotion.ZEROING_TIMEOUT.in(Units.Seconds)),
	new ZeroHood().onlyIf(() -> !RobotContainer.motionInstance.hasHoodZeroed)
	.withTimeout(ConstMotion.ZEROING_TIMEOUT.in(Units.Seconds)),

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