Subsystem deprecation and refinements

[arcadeArchitect]

• remove deprecated subsystems
• remove left/right
• refine subsystem constants
• relocate subsystem state handling to be completely within its respective subsystem
• add booleans in RobotContainer.java to toggle between real/io implementations

[coderabbitai]

Caution

Review failed

The pull request is closed.

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro

Run ID: fcc604d7-6054-4068-8ccc-425d8656f426

📥 Commits

Reviewing files that changed from the base of the PR and between e029dee and 7ed3a5e.

📒 Files selected for processing (22)

• src/main/java/org/team5924/frc2026/Constants.java
• src/main/java/org/team5924/frc2026/RobotContainer.java
• src/main/java/org/team5924/frc2026/RobotState.java
• src/main/java/org/team5924/frc2026/commands/shooter/AutoScoreCommands.java
• src/main/java/org/team5924/frc2026/commands/shooter/ManualShooterCommands.java
• src/main/java/org/team5924/frc2026/subsystems/flywheel/Flywheel.java
• src/main/java/org/team5924/frc2026/subsystems/flywheel/FlywheelIOSim.java
• src/main/java/org/team5924/frc2026/subsystems/flywheel/FlywheelIOTalonFX.java
• src/main/java/org/team5924/frc2026/subsystems/pivots/intakePivot/IntakePivot.java
• src/main/java/org/team5924/frc2026/subsystems/pivots/shooterHood/ShooterHood.java
• src/main/java/org/team5924/frc2026/subsystems/pivots/shooterHood/ShooterHoodIOSim.java
• src/main/java/org/team5924/frc2026/subsystems/pivots/shooterHood/ShooterHoodIOTalonFX.java
• src/main/java/org/team5924/frc2026/subsystems/rollers/hopper/Hopper.java
• src/main/java/org/team5924/frc2026/subsystems/rollers/indexer/Indexer.java
• src/main/java/org/team5924/frc2026/subsystems/rollers/intake/Intake.java
• src/main/java/org/team5924/frc2026/subsystems/turret/Turret.java
• src/main/java/org/team5924/frc2026/subsystems/turret/TurretIO.java
• src/main/java/org/team5924/frc2026/subsystems/turret/TurretIOSim.java
• src/main/java/org/team5924/frc2026/subsystems/turret/TurretIOTalonFX.java
• src/main/java/org/team5924/frc2026/subsystems/vision/VisionConstants.java
• src/main/java/org/team5924/frc2026/util/LaunchCalculator.java
• src/main/java/org/team5924/frc2026/util/LauncherConstants.java

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Summary by CodeRabbit

Release Notes

• Removed Features

  • Turret subsystem has been removed.

• Refactor

  • Unified shooter hood and flywheel subsystems (previously maintained separate left/right instances).
  • Simplified intake control: left bumper deploys intake pivot and activates intake; right bumper stows both.
  • Streamlined shooter auto-aiming logic by removing turret angle calculations.

Walkthrough

This pull request consolidates the shooter and flywheel subsystems by removing side-specific (left/right) implementations and eliminating the entire Turret subsystem. Constants are renamed to remove "General" prefix, and subsystem state tracking is migrated from RobotState to local fields within individual subsystems.

Changes

Cohort / File(s)	Summary
Constants Refactoring src/main/java/org/team5924/frc2026/Constants.java	Renamed subsystem constant classes (GeneralShooterHood → ShooterHood, GeneralFlywheel → Flywheel), consolidated their configuration constants (GENERAL_* → *), added explicit hardware identifiers (CAN IDs, CANcoder parameters), and deleted all side-specific constant classes (ShooterHoodLeft/Right, FlywheelLeader/FollowerLeft/Right, TurretLeft/Right, GeneralTurret).
Turret Subsystem Removal src/main/java/org/team5924/frc2026/subsystems/turret/*	Entirely removed Turret.java, TurretIO.java, TurretIOSim.java, and TurretIOTalonFX.java (579 lines deleted), eliminating turret state management, IO interface, and hardware implementations.
Flywheel Consolidation src/main/java/org/team5924/frc2026/subsystems/flywheel/Flywheel.java, FlywheelIOTalonFX.java, FlywheelIOSim.java	Removed side-specific (isLeft) parameter from constructor and all side-branching logic; added local currentState field for state tracking; consolidated tunable parameters and logging keys from side-specific (Flywheel/<side>/...) to shared namespace; updated constant references to new Constants.Flywheel naming.
ShooterHood Consolidation src/main/java/org/team5924/frc2026/subsystems/pivots/shooterHood/ShooterHood.java, ShooterHoodIOTalonFX.java, ShooterHoodIOSim.java	Removed isLeft parameter and side-specific state synchronization; added local currentState field; consolidated tunable parameters and removed left/right branching; updated logging namespaces to shared ShooterHood/* paths and constant references to simplified Constants.ShooterHood naming.
RobotState Dependency Removal src/main/java/org/team5924/frc2026/RobotState.java, src/main/java/org/team5924/frc2026/subsystems/rollers/intake/Intake.java, IntakePivot.java, Hopper.java, Indexer.java	Deleted RobotState fields tracking subsystem states (intake, intake pivot, hopper, indexer, turret, flywheels, shooter hoods); updated respective subsystems to maintain local currentState instead of updating global RobotState.
RobotContainer and Commands Updates src/main/java/org/team5924/frc2026/RobotContainer.java, src/main/java/org/team5924/frc2026/commands/shooter/AutoScoreCommands.java, ManualShooterCommands.java	Removed side-specific shooter/turret field instantiation; simplified IO selection to single instances; removed turret-related imports and control bindings; updated AutoScoreCommands.runTrackTargetCommand() to remove Turret dependency; deleted manualTurret() command factory; added feature flags for conditional real vs. simulated IO instantiation.
Utility and Calculator Updates src/main/java/org/team5924/frc2026/util/LaunchCalculator.java, LauncherConstants.java	Removed Transform3d import and turret-related parameters; updated getParameters() to remove isLeft parameter and turret angle computation; replaced side-specific launcher transforms (robotToLauncherLeft/Right) with single robotToLauncher; updated hood angle constant references to new Constants.ShooterHood naming.
Vision Constants Formatting src/main/java/org/team5924/frc2026/subsystems/vision/VisionConstants.java	Minor whitespace/indentation adjustments to Transform3d argument formatting (no functional changes).

Estimated code review effort

🎯 4 (Complex) | ⏱️ ~75 minutes

Possibly related PRs

• Implement Turret #56: Modifies Turret-related classes and shooter/turret wiring in Constants and RobotContainer; directly conflicts with turret removal in this PR.
• 15 basic shooter roller and hood with superstructure #26: Both PRs modify ShooterHood subsystem and Constants (CAN IDs, configurations, IO implementations).
• Flywheel tuning #81: Modifies Flywheel subsystem/constants including velocity epsilon, configs, and IO tuning parameters.

Suggested reviewers

• thatnerdjack
• maiKuneho
• marisa07

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🐰 Hoppy consolidation day!
Left and right turrets fade away,
One shooter, one flywheel now reign,
RobotState no longer holds the state,
Each subsystem tends its own domain! 🎯✨

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests

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