V2 by Murat65536 · Pull Request #84 · LakotaRobotics1038/2026RobotProject

Murat65536 · 2026-04-09T00:43:46Z

Pull Request

Closes #83

Issue Number

Comments

Copilot

Pull request overview

This PR updates multiple robot subsystems and command flows to a “V2” hardware/software layout, including a redesigned shooter (4 motors + SysId), a new motor-driven shooter hood, and a new HopperExtension mechanism, with corresponding updates across commands, operator/driver bindings, and autonomous routines.

Changes:

Replaces the old dual “ShooterHoods” (servo hub) implementation with a single motor-driven ShooterHood subsystem and updates commands/dashboard bindings accordingly.
Refactors Shooter to a 4-motor SparkMax setup and adds SysId characterization hooks plus a new ShooterSysID auton.
Introduces HopperExtension + command, removes AcquisitionPivot (and its commands/constants), and updates autos + joystick bindings.

Reviewed changes

Copilot reviewed 38 out of 41 changed files in this pull request and generated 10 comments.

Show a summary per file

File	Description
src/main/java/frc/robot/subsystems/SwagLights.java	Makes SerialPort field final.
src/main/java/frc/robot/subsystems/ShooterHoods.java	Removes legacy servo-hub-based hood subsystem.
src/main/java/frc/robot/subsystems/ShooterHood.java	Adds new motor-driven shooter hood subsystem (SparkMax + absolute encoder).
src/main/java/frc/robot/subsystems/Shooter.java	Refactors shooter to 4 SparkMax motors, adds SysId routine helpers, updates distance/angle math.
src/main/java/frc/robot/subsystems/Kicker.java	Refactors kicker into two SparkFlex motors (kicker + feeder) with separate controllers.
src/main/java/frc/robot/subsystems/Indexer.java	Switches indexer motor controller to SparkFlex and renames forward/reverse actions.
src/main/java/frc/robot/subsystems/HopperExtension.java	Adds new hopper extension subsystem with limit switches and closed-loop control.
src/main/java/frc/robot/subsystems/Dashboard.java	Updates shooter hood constants reference; removes acquisition tilt dashboard value.
src/main/java/frc/robot/subsystems/AcquisitionPivot.java	Removes legacy acquisition pivot subsystem.
src/main/java/frc/robot/subsystems/Acquisition.java	Changes acquisition from duty-cycle control to velocity control with configured PID/FF.
src/main/java/frc/robot/constants/ShooterHoodsConstants.java	Removes old servo hood constants.
src/main/java/frc/robot/constants/ShooterHoodConstants.java	Adds new shooter hood constants (CAN IDs, limits, PID/FF placeholders).
src/main/java/frc/robot/constants/ShooterConstants.java	Updates shooter motor CAN IDs and replaces module translation constants with barrel center offset.
src/main/java/frc/robot/constants/KickerConstants.java	Splits constants for kicker vs feeder motor/controllers and adds feeder RPMs.
src/main/java/frc/robot/constants/IndexerConstants.java	Updates CAN ID and replaces duty-cycle constants with forward/backward power.
src/main/java/frc/robot/constants/HopperExtensionConstants.java	Adds new constants for hopper extension control.
src/main/java/frc/robot/constants/AcquisitionPivotConstants.java	Removes legacy pivot constants.
src/main/java/frc/robot/constants/AcquisitionConstants.java	Updates CAN ID and adds PID/FF + RPM setpoints for velocity control.
src/main/java/frc/robot/commands/ShootCommand.java	Updates shooter usage and removes acquisition pivot/tilt timing logic.
src/main/java/frc/robot/commands/RetractHoodsCommand.java	Removes old dual-hood retract command.
src/main/java/frc/robot/commands/RetractHoodCommand.java	Adds new single-hood retract command.
src/main/java/frc/robot/commands/IndexerCommand.java	Renames Mode enum and updates indexer direction method calls.
src/main/java/frc/robot/commands/HopperExtensionCommand.java	Adds command to drive hopper extension until limit switch triggers.
src/main/java/frc/robot/commands/AlignCommand.java	Updates alignment logic to aim using field target vector rather than shooter module bisector.
src/main/java/frc/robot/commands/AdjustHoodCommand.java	Renames/updates hood adjustment command for new single hood subsystem.
src/main/java/frc/robot/commands/AcquisitionPivotTrenchRetract.java	Removes legacy pivot trench retract command.
src/main/java/frc/robot/commands/AcquisitionPivotCommand.java	Removes legacy acquisition pivot setpoint command.
src/main/java/frc/robot/commands/AcquisitionCommand.java	Renames Mode enum and updates naming around intake/dispose direction.
src/main/java/frc/robot/autons/ShooterSysID.java	Adds new SysId auton sequence for shooter characterization.
src/main/java/frc/robot/autons/RightTrenchAuto.java	Updates command sequence to use hopper extension + new hood/shoot interfaces.
src/main/java/frc/robot/autons/RightPreloadAuto.java	Updates preload auton to use hopper extension + new hood/shoot interfaces.
src/main/java/frc/robot/autons/MiddlePreloadAuto.java	Updates preload auton to use hopper extension + new hood/shoot interfaces.
src/main/java/frc/robot/autons/LeftTrenchAuto.java	Updates command sequence to use hopper extension + new hood/shoot interfaces.
src/main/java/frc/robot/autons/LeftPreloadAuto.java	Updates preload auton to use hopper extension + new hood/shoot interfaces.
src/main/java/frc/robot/autons/DepotAuto.java	Updates depot auton to use hopper extension + new hood/shoot interfaces.
src/main/java/frc/robot/autons/AutonSelector.java	Adds ShooterSysID to auton choices and chooser options.
src/main/java/frc/robot/OperatorJoystick.java	Updates bindings to new hopper extension + retract hood + simplified shoot command.
src/main/java/frc/robot/DriverJoystick.java	Updates default/trigger commands to use new hood commands and subsystem.

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Copilot · 2026-04-20T21:31:15Z

 import java.io.IOException;
 import java.util.Optional;

+import frc.robot.commands.*;


Wildcard import (import frc.robot.commands.*;) diverges from the explicit-import style used elsewhere in autons (e.g., RightPreloadAuto uses explicit command imports at src/main/java/frc/robot/autons/RightPreloadAuto.java:5-9). Please switch back to explicit imports to keep dependencies clear.

Suggested change

import frc.robot.commands.*;

import frc.robot.commands.AcquisitionCommand;

import frc.robot.commands.AdjustHoodCommand;

import frc.robot.commands.AlignCommand;

import frc.robot.commands.HopperExtensionCommand;

import frc.robot.commands.ShootCommand;

Copilot · 2026-04-20T21:31:16Z

 import java.io.IOException;
 import java.util.Optional;

+import frc.robot.commands.*;


Wildcard import (import frc.robot.commands.*;) diverges from the explicit-import style used elsewhere in autons (e.g., RightPreloadAuto uses explicit command imports at src/main/java/frc/robot/autons/RightPreloadAuto.java:5-9). Please switch back to explicit imports to keep dependencies clear.

Suggested change

import frc.robot.commands.*;

import frc.robot.commands.AcquisitionCommand;

import frc.robot.commands.AdjustHoodCommand;

import frc.robot.commands.AlignCommand;

import frc.robot.commands.HopperExtensionCommand;

import frc.robot.commands.ShootCommand;

Copilot · 2026-04-20T21:31:17Z

+
+    @Override
+    public void initialize() {
+        shooterHood.setAngle(ShooterHoodConstants.SHOOTER_FULL_RETRACTION_ANGLE);


This command sets the hood angle to SHOOTER_FULL_RETRACTION_ANGLE, but ShooterHood.setAngle() clamps angles to ShooterHoodConstants.MAX_ANGLE. With the current constants, the requested value is above MAX_ANGLE, so the hood will never actually reach the commanded value. Consider using MAX_ANGLE here (or adjust the constants so full retraction is within the valid range).

Suggested change

shooterHood.setAngle(ShooterHoodConstants.SHOOTER_FULL_RETRACTION_ANGLE);

shooterHood.setAngle(ShooterHoodConstants.MAX_ANGLE);

reediculous456 · 2026-04-20T21:25:42Z

 import java.io.IOException;
 import java.util.Optional;

+import frc.robot.commands.*;


No import *

reediculous456 · 2026-04-20T21:26:35Z

 import java.io.IOException;
 import java.util.Optional;

+import frc.robot.commands.*;


No import *

reediculous456 · 2026-04-20T21:26:55Z

 import java.io.IOException;
 import java.util.Optional;

+import frc.robot.commands.*;


No import *

reediculous456 · 2026-04-20T21:51:30Z

+classDiagram
+  direction LR
+
+  class ShooterConstants {


why was this final removed?

reediculous456 · 2026-04-20T21:51:45Z

  direction LR

  class ShooterFormula {
-    <<static inner>>


Is shooter formula still static inner?

reediculous456 · 2026-04-20T21:51:57Z

+classDiagram
+  direction LR
+
+  class SwerveConstants {


Why was this final removed?

reediculous456 · 2026-04-20T21:52:03Z

+classDiagram
+  direction LR
+
+  class VisionConstants {


reediculous456 · 2026-04-20T21:52:17Z

-    Right
-    None
-  }
+classDiagram


Why are there even changes to this file?

reediculous456 · 2026-04-20T21:56:21Z

Now that the hoods won't hit the trench, can we bring back the hood adjustment running constantly?

Murat and others added 30 commits March 26, 2026 13:27

Start refactor

aee1e51

Do literally everything

107e5bb

Remove indexer pid

a5c386e

Add indexer rpm

a411073

Add more getters

ea38ba3

Fix shooter motors

8c93473

Fix extension config

801d2c9

Make classes final

53721c3

Fix shooter motor config

0f28cb8

Fix extension command

cc01986

Add final

3ef86c2

Fix motortype

80f9215

Address issues

6d77cbd

Rename shooter hoods

c6812b7

Fix can id

d8dc6dc

Change indexer can id

6f65012

Make 2 motors

2955153

Add controller to indexer

2e0c184

Intake PID

744937d

Add min and max angle

299792b

Merge branch 'main' into new-robot

690f91e

Switch to pid

7ba1f1d

Fix constant

46df73b

Change to acquisition

94c5708

Merge remote-tracking branch 'origin/main' into new-robot

54b9a68

Small fix

1e73955

Fix enum

c925398

Add shooter hood constants

930a77a

Set can ids

a6eb573

Add kicker can id

734a359

Merge branch 'main' into new-robot

31158db

Murat65536 marked this pull request as ready for review April 19, 2026 12:31

Murat65536 requested a review from reediculous456 as a code owner April 19, 2026 12:31

Murat65536 added 3 commits April 19, 2026 09:12

Update can IDs and add feeder

0753935

Merge branch 'new-robot' of https://github.com/LakotaRobotics1038/202…

2e8e389

…6RobotProject into new-robot

Rename

fe0ae5e

reediculous456 requested a review from Copilot April 20, 2026 21:25

Copilot started reviewing on behalf of reediculous456 April 20, 2026 21:25 View session

Copilot AI reviewed Apr 20, 2026

View reviewed changes

Update uml

b020063

reediculous456 requested changes Apr 20, 2026

View reviewed changes

Murat65536 added 18 commits April 20, 2026 21:47

Update shooter hood

bf9aa91

Formatting fixes and shooter hood change

2c20a03

Fix some suggestions

564f02b

Hopper extension and shooter hood changes

b2c85f2

Everything ever is broken

673fafd

Fix hopper extension

f3dfb29

Fix hopper extension

9d61f23

Change a lot

ae6561a

Add persistent mode and maxmotion

ef0e87a

Add different modes for manual and auto shooting

a08982d

Cleanup

c81ef58

Change passing offset

4e19015

Update autons

5b94b7d

Fix autons

c04b96b

Add hopper extension seconds on dashboard

f6ddea3

Major path changes

f2cfb88

Change back shooter commands

a05be3c

acquisition changes

1819f6f

-import frc.robot.commands.*;
+import frc.robot.commands.AcquisitionCommand;
+import frc.robot.commands.AdjustHoodCommand;
+import frc.robot.commands.AlignCommand;
+import frc.robot.commands.HopperExtensionCommand;
+import frc.robot.commands.ShootCommand;

	shooterHood.setAngle(ShooterHoodConstants.SHOOTER_FULL_RETRACTION_ANGLE);
	shooterHood.setAngle(ShooterHoodConstants.MAX_ANGLE);

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Murat65536 commented Apr 9, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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reediculous456 commented Apr 20, 2026

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Murat65536 commented Apr 9, 2026 •

edited

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