Main build error fix

.vscode/settings.json

@@ -62,5 +62,5 @@
     null
   ],
   "java.dependency.enableDependencyCheckup": false,
-  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable"
 }

src/main/java/org/team5924/frc2026/Constants.java

@@ -34,8 +34,6 @@
 import edu.wpi.first.math.util.Units;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 
-import edu.wpi.first.math.geometry.Translation3d;
-
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
@@ -103,7 +101,18 @@ public final class Field {
       .withVoltageClosedLoopRampPeriod(0.02);
 
   public final class GenericRoller {
-    public static final TalonFXConfiguration CONFIG =
+    public static final TalonFXConfiguration CLOCKWISE_CONFIG =
+      new TalonFXConfiguration()
+        .withCurrentLimits(
+          new CurrentLimitsConfigs()
+            .withSupplyCurrentLimit(60)
+            .withStatorCurrentLimit(60))
+        .withMotorOutput(
+          new MotorOutputConfigs()
+            .withInverted(InvertedValue.Clockwise_Positive)
+            .withNeutralMode(NeutralModeValue.Brake));
+
+    public static final TalonFXConfiguration COUNTERCLOCKWISE_CONFIG =
       new TalonFXConfiguration()
         .withCurrentLimits(
           new CurrentLimitsConfigs()
@@ -122,11 +131,12 @@ public final class GenericRoller {
 
   public final class Intake {
     public static final int CAN_ID = 41;
+    public static final int FOLLOWER_CAN_ID = 42;
     public static final String BUS = "rio";
     public static final double MOTOR_TO_MECHANISM = 36.0 / 16.0;
     public static final double SIM_MOI = 0.001;
 
-    public static final TalonFXConfiguration CONFIG = GenericRoller.CONFIG;
+    public static final TalonFXConfiguration CONFIG = GenericRoller.COUNTERCLOCKWISE_CONFIG.clone();
   }
 
   public final class IntakePivot {
@@ -155,8 +165,8 @@ public final class IntakePivot {
       new TalonFXConfiguration()
         .withCurrentLimits(
           new CurrentLimitsConfigs()
-            .withSupplyCurrentLimit(120)
-            .withStatorCurrentLimit(120)
+            .withSupplyCurrentLimit(60)
+            .withStatorCurrentLimit(60)
             .withSupplyCurrentLimitEnable(true)
             .withStatorCurrentLimitEnable(true))
         .withMotorOutput(
@@ -168,48 +178,49 @@ public final class IntakePivot {
       new SoftwareLimitSwitchConfigs()
         .withReverseSoftLimitThreshold(MIN_POSITION_ROTATIONS)
         .withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS)
-        .withForwardSoftLimitEnable(true)
-        .withReverseSoftLimitEnable(true);
+        .withForwardSoftLimitEnable(false)
+        .withReverseSoftLimitEnable(false);
 
     public static final FeedbackConfigs FEEDBACK_CONFIGS =
       new FeedbackConfigs()
         .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor)
         .withSensorToMechanismRatio(MOTOR_TO_MECHANISM)
         .withRotorToSensorRatio(1.0);
-    }
+  }
 
   public final class Hopper {
     public static final int CAN_ID = 50; 
     public static final String BUS = "rio";
     public static final double MOTOR_TO_MECHANISM = (16.0 / 12.0) * (24.0 / 16.0);
     public static final double SIM_MOI = 0.001;
 
-    public static final int BEAM_BREAK_ID = 0;
-
-    public static final TalonFXConfiguration CONFIG = GenericRoller.CONFIG;
+    public static final TalonFXConfiguration CONFIG = GenericRoller.COUNTERCLOCKWISE_CONFIG.clone();
   }
 
   public final class Indexer {
     public final static int CAN_ID = 51;
     public static final String BUS = "rio";
+
     // controls two rollers, so reduction is weird
     public static final double MOTOR_TO_MECHANISM = 36.0 / 16.0;
     public static final double SIM_MOI = 0.001;
 
-    public final static int BEAM_BREAK_ID = 0;
-
     public static final TalonFXConfiguration CONFIG =
-      GenericRoller.CONFIG
+      GenericRoller.COUNTERCLOCKWISE_CONFIG.clone()
         .withMotorOutput(
           new MotorOutputConfigs()
             .withInverted(InvertedValue.Clockwise_Positive));
   }
 
-
   /* General Subsystems */
-  public final class GeneralShooterHood {
+  public final class ShooterHood {
     public static final String BUS = "rio";
     public static final double SIM_MOI = 0.001;
+    public static final int CAN_ID = 34;
+
+    /* CANCoder */
+    public static final int CANCODER_ID = 36;
+    public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;
 
     // spur = hood driving gear, mechanism = shooter hood gear
     public static final double MOTOR_TO_CANCODER = (40.0 / 12.0) * (24.0 / 17.0);
@@ -220,7 +231,7 @@ public final class GeneralShooterHood {
     public static final double CANCODER_TO_MECHANISM = CANCODER_TO_SPUR * SPUR_TO_MECHANISM;
     public static final double MOTOR_TO_MECHANISM = MOTOR_TO_CANCODER * CANCODER_TO_SPUR * SPUR_TO_MECHANISM;
 
-    public static final double EPSILON_RADS = Units.degreesToRadians(2.0);
+    public static final double EPSILON_RADS = Units.degreesToRadians(0.5);
     public static final double STATE_TIMEOUT = 5.0;
     public static final boolean ENABLE_TIMEOUT = false;
 
@@ -252,25 +263,36 @@ public final class GeneralShooterHood {
             .withForwardSoftLimitEnable(false)
             .withReverseSoftLimitEnable(false);
 
-    public static final FeedbackConfigs GENERAL_FEEDBACK_CONFIGS =
+    public static final FeedbackConfigs FEEDBACK_CONFIGS =
       new FeedbackConfigs()
         .withSensorToMechanismRatio(CANCODER_TO_MECHANISM)
         .withRotorToSensorRatio(MOTOR_TO_CANCODER)
-        .withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder);
+        .withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder)
+        .withFeedbackRemoteSensorID(CANCODER_ID)
+        .withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);
 
-    public static final MagnetSensorConfigs GENERAL_CANCODER_CONFIGS =
+    public static final MagnetSensorConfigs CANCODER_CONFIGS =
       new MagnetSensorConfigs()
         .withAbsoluteSensorDiscontinuityPoint(1.0)
-        .withSensorDirection(SensorDirectionValue.Clockwise_Positive);
+        .withSensorDirection(SensorDirectionValue.Clockwise_Positive)
+        .withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
   }
 
-  public final class GeneralFlywheel {
+  public final class Flywheel {
+    public static final int CAN_ID = 30;
+
+    public static final int FOLLOWER_CAN_ID = 31;
+    public static final int OPPOSER_ONE_CAN_ID = 32;
+    public static final int OPPOSER_TWO_CAN_ID = 33;
+
+    public static final double FOLLOWER_SIM_MOI = 0.001;
+
     public static final double EPSILON_VELOCITY = 2.5;
     public static final double MOTOR_TO_MECHANISM = 15.0 / 26.0;
     public static final String BUS = "rio";
     public static final double SIM_MOI = 0.001;
 
-    public static final TalonFXConfiguration GENERAL_CONFIG =
+    public static final TalonFXConfiguration CONFIG =
       new TalonFXConfiguration()
         .withCurrentLimits(
           new CurrentLimitsConfigs()
@@ -287,188 +309,4 @@ public final class GeneralFlywheel {
         .withSensorToMechanismRatio(MOTOR_TO_MECHANISM)
         .withRotorToSensorRatio(1.0);
   }
-
-  public final class GeneralTurret {
-    public static final String BUS = "rio";
-
-    public static final double SIM_MOI = 0.001;
-
-    public static final double MOTOR_TO_CANCODER = (20.0 / 12.0);
-    public static final double CANCODER_TO_MECHANISM = (135.0 / 20.0);
-    public static final double MOTOR_TO_MECHANISM = MOTOR_TO_CANCODER * CANCODER_TO_MECHANISM;
-
-    public static final double EPSILON_RADS = Units.degreesToRadians(10.0);
-    public static final double STATE_TIMEOUT = 1.0;
-
-    /* Configs */
-    public static final TalonFXConfiguration GENERAL_CONFIG =
-      new TalonFXConfiguration()
-        .withCurrentLimits(
-          new CurrentLimitsConfigs()
-            .withSupplyCurrentLimit(60)
-            .withStatorCurrentLimit(10)
-            .withStatorCurrentLimitEnable(true))
-        .withMotorOutput(
-          new MotorOutputConfigs()
-            .withInverted(InvertedValue.Clockwise_Positive)
-            .withNeutralMode(NeutralModeValue.Brake));
-
-    public static final SoftwareLimitSwitchConfigs GENERAL_SOFTWARE_LIMIT_CONFIGS =
-      new SoftwareLimitSwitchConfigs()
-        .withForwardSoftLimitEnable(false)
-        .withReverseSoftLimitEnable(false);
-
-    public static final FeedbackConfigs GENERAL_FEEDBACK_CONFIGS =
-      new FeedbackConfigs()
-        .withSensorToMechanismRatio(CANCODER_TO_MECHANISM)
-        .withRotorToSensorRatio(MOTOR_TO_CANCODER)
-        .withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder);
-
-    public static final MagnetSensorConfigs GENERAL_CANCODER_CONFIGS =
-      new MagnetSensorConfigs()
-        .withAbsoluteSensorDiscontinuityPoint(1)
-        .withSensorDirection(SensorDirectionValue.CounterClockwise_Positive);
-  }
-
-  /* Left */
-  public final class ShooterHoodLeft {
-    public static final int CAN_ID = 34;
-
-    /* CANCoder */
-    public static final int CANCODER_ID = 36;
-    public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;
-
-    public static final FeedbackConfigs FEEDBACK_CONFIGS =
-      GeneralShooterHood.GENERAL_FEEDBACK_CONFIGS
-        .withFeedbackRemoteSensorID(CANCODER_ID)
-        .withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);
-
-    public static final MagnetSensorConfigs CANCODER_CONFIGS =
-      GeneralShooterHood.GENERAL_CANCODER_CONFIGS
-        .withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
-  }
-
-  public final class FlywheelLeaderLeft {
-    public static final int CAN_ID = 30;
-    public static final int BEAM_BREAK_PORT = 0; // TODO: update later
-
-    public static final TalonFXConfiguration CONFIG = GeneralFlywheel.GENERAL_CONFIG;
-  }
-
-  public final class FlywheelFollowerLeft {
-    public static final int CAN_ID = 31;
-    public static final double SIM_MOI = 0.001;
-    public static final int BEAM_BREAK_ID = 0;
-
-    public static final TalonFXConfiguration CONFIG = 
-      GeneralFlywheel.GENERAL_CONFIG
-        .withMotorOutput(
-          new MotorOutputConfigs()
-            .withInverted(InvertedValue.CounterClockwise_Positive));
-  }
-
-  public final class TurretLeft {
-    public static final int CAN_ID = 20;
-
-    // +x -> forward; +y -> left
-    public static final Translation3d ROBOT_TO_TURRET =
-      new Translation3d(
-        Units.inchesToMeters(4.5), 
-        Units.inchesToMeters(7.505), 
-        Units.inchesToMeters(15.340));
-
-    /* CANCoder */
-    public static final int CANCODER_ID = 22;
-    public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;
-
-    public static final double MIN_POSITION_ROTATIONS = 0 - Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
-    public static final double MAX_POSITION_ROTATIONS = 150.0 / 360.0 + Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
-
-    public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_ROTATIONS);
-    public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_ROTATIONS);
-
-    public static final SoftwareLimitSwitchConfigs SOFTWARE_LIMIT_CONFIGS =
-      GeneralTurret.GENERAL_SOFTWARE_LIMIT_CONFIGS
-        .withReverseSoftLimitThreshold(MIN_POSITION_ROTATIONS)
-        .withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS);
-
-    public static final FeedbackConfigs FEEDBACK_CONFIGS =
-      GeneralTurret.GENERAL_FEEDBACK_CONFIGS
-        .withFeedbackRemoteSensorID(CANCODER_ID)
-        .withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);
-
-    public static final MagnetSensorConfigs CANCODER_CONFIGS =
-      GeneralTurret.GENERAL_CANCODER_CONFIGS
-        .withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
-  }
-
-  /* Right */
-  public final class ShooterHoodRight {
-    public static final int CAN_ID = 35;
-
-    /* CANCoder */
-    public static final int CANCODER_ID = 37;
-    public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;
-
-    public static final FeedbackConfigs FEEDBACK_CONFIGS =
-      GeneralShooterHood.GENERAL_FEEDBACK_CONFIGS
-        .withFeedbackRemoteSensorID(CANCODER_ID)
-        .withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);
-
-    public static final MagnetSensorConfigs CANCODER_CONFIGS =
-      GeneralShooterHood.GENERAL_CANCODER_CONFIGS
-        .withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
-  }
-
-  public final class FlywheelLeaderRight {
-    public static final int CAN_ID = 32;
-    public static final int BEAM_BREAK_PORT = 0; // TODO: update later
-
-    public static final TalonFXConfiguration CONFIG = GeneralFlywheel.GENERAL_CONFIG;
-  }
-
-  public final class FlywheelFollowerRight {
-    public static final int CAN_ID = 33;
-
-    public static final TalonFXConfiguration CONFIG =
-      GeneralFlywheel.GENERAL_CONFIG
-        .withMotorOutput(
-          new MotorOutputConfigs()
-            .withInverted(InvertedValue.CounterClockwise_Positive));
-  }
-
-  public final class TurretRight {
-    public static final int CAN_ID = 21;
-
-    // +x -> forward; +y -> left
-    public static final Translation3d ROBOT_TO_TURRET =
-      new Translation3d(
-        Units.inchesToMeters(4.5), 
-        Units.inchesToMeters(-7.505), 
-        Units.inchesToMeters(15.340));
-
-    /* CANCoder */
-    public static final int CANCODER_ID = 23;
-    public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;
-
-    public static final double MIN_POSITION_ROTATIONS = -150.0 / 360.0 - Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
-    public static final double MAX_POSITION_ROTATIONS = 0.0 + Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
-
-    public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_ROTATIONS);
-    public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_ROTATIONS);
-
-    public static final SoftwareLimitSwitchConfigs SOFTWARE_LIMIT_CONFIGS =
-      GeneralTurret.GENERAL_SOFTWARE_LIMIT_CONFIGS
-        .withReverseSoftLimitThreshold(MIN_POSITION_ROTATIONS)
-        .withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS);
-
-    public static final FeedbackConfigs FEEDBACK_CONFIGS =
-      GeneralTurret.GENERAL_FEEDBACK_CONFIGS
-        .withFeedbackRemoteSensorID(CANCODER_ID)
-        .withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);
-
-    public static final MagnetSensorConfigs CANCODER_CONFIGS =
-      GeneralTurret.GENERAL_CANCODER_CONFIGS
-        .withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
-  }
 }