Better tuning

[dracco1993]

No description provided.

[Copilot]

Pull request overview

This PR updates tuning parameters for the turret and intake subsystems by switching from arm-based to simple motor feedforward control and adjusting PID values.

Changes:

• Replaced ArmFeedforward with SimpleMotorFeedforward for turret and intake subsystems with updated tuning parameters
• Added a rezero() command for the turret subsystem and integrated it into the superstructure's rezero functionality
• Changed intake pivot motor controller from ThriftyNova to SparkMax

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 2 comments.

File	Description
TurretSubsystem.java	Updated feedforward controller, tuned PID/velocity/acceleration values, and added rezero command
Superstructure.java	Modified feedAll command to remove intake pivot control and renamed rezero command to include both intake and turret
IntakeSubsystem.java	Switched motor controller from ThriftyNova to SparkMax, updated tuning parameters, added soft limits, and adjusted encoder reset call
OperatorControls.java	Updated button binding to call the renamed rezero command for both intake and turret

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[Copilot]

The commented-out code duplicates the withName call from line 243. If this code needs to be re-enabled, remove the withName call from the commented portion to avoid confusion.

Suggested change

	// intake.setPivotAngle(Degrees.of(46)).asProxy()).withName("Superstructure.feedAll");
	// intake.setPivotAngle(Degrees.of(46)).asProxy());

[Copilot]

The commented-out gearing configuration on lines 72-73 appears to be an old version. Remove this commented code to improve clarity, as the active configuration is already defined on line 71.

Suggested change

	// .withGearing(new MechanismGearing(GearBox.fromReductionStages(5, 5, 60.0 /
	// 18.0, 42)))