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not sure if correct but turretsubsystem auto stubs filled #29

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d53a47b
not sure if correct but turretsubsystem auto stubs filled
lQuasar9206 Jan 25, 2026
9c45310
more stuff fixed
lQuasar9206 Jan 25, 2026
f9656e5
comp bot case stuff
lQuasar9206 Jan 25, 2026
f0dc9b3
added hood
BlazingBora Jan 25, 2026
52ef37d
added hood
BlazingBora Jan 25, 2026
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10 changes: 9 additions & 1 deletion src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -259,7 +259,15 @@ public Robot() {
case COMP:
indexer = new SpindexerSubsystem();
intake = new LintakeSubsystem();
shooter = new TurretSubsystem();
shooter =
new TurretSubsystem(
ROBOT_MODE == RobotMode.REAL
? new FlywheelIO(FlywheelIO.getFlywheelConfiguration(), canivore)
: new FlywheelIOSim(FlywheelIO.getFlywheelConfiguration(), canivore),
ROBOT_MODE == RobotMode.REAL
? new HoodIO(HoodIO.getHoodConfiguration(), canivore)
: new HoodIOSim(canivore));

climber = new ClimberSubsystem(); // TODO climber
break;
}
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97 changes: 76 additions & 21 deletions src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,66 +4,121 @@

package frc.robot.subsystems.shooter;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.utils.LoggedTunableNumber;
import frc.robot.utils.autoaim.AutoAim;
import frc.robot.utils.autoaim.InterpolatingShotTree.ShotData;
import java.util.function.Supplier;
import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;

/** Pivoting hooded shooter (turret). !! COMP !! */
public class TurretSubsystem extends SubsystemBase implements Shooter {
/** Creates a new TurretSubsystem. */
public TurretSubsystem() {}
public static double HOOD_GEAR_RATIO = 24.230769;

@Override
public void periodic() {
// This method will be called once per scheduler run
public static Rotation2d HOOD_MAX_ROTATION = Rotation2d.fromDegrees(40);
public static Rotation2d HOOD_MIN_ROTATION = Rotation2d.fromDegrees(2);

public static double FLYWHEEL_GEAR_RATIO = 28.0 / 24.0;

public static double FLYWHEEL_VELOCITY_TOLERANCE_ROTATIONS_PER_SECOND = 5.0;

HoodIO hoodIO;
HoodIOInputsAutoLogged hoodInputs = new HoodIOInputsAutoLogged();

FlywheelIO flywheelIO;
FlywheelIOInputsAutoLogged flywheelInputs = new FlywheelIOInputsAutoLogged();

public TurretSubsystem(FlywheelIO flywheelIO, HoodIO hoodIO) {
this.flywheelIO = flywheelIO;
this.hoodIO = hoodIO;
}

private LoggedTunableNumber testDegrees = new LoggedTunableNumber("Shooter/Test Degrees", 10.0);
private LoggedTunableNumber testVelocity = new LoggedTunableNumber("Shooter/Test Velocity", 30.0);

@Override
public Command shoot(Supplier<Pose2d> robotPoseSupplier) {
// TODO Auto-generated method stub
throw new UnsupportedOperationException("Unimplemented method 'shoot'");
public void periodic() {
flywheelIO.updateInputs(flywheelInputs);
Logger.processInputs("Shooter/Flywheel", flywheelInputs);
}

@Override
public Command feed(Supplier<Pose2d> robotPoseSupplier, Supplier<Pose2d> feedTarget) {
// TODO Auto-generated method stub
throw new UnsupportedOperationException("Unimplemented method 'feed'");
return this.run(
() -> {
ShotData shotData =
AutoAim.FEED_SHOT_TREE.get(
robotPoseSupplier
.get()
.getTranslation()
.getDistance(feedTarget.get().getTranslation()));
hoodIO.setHoodPosition(shotData.hoodAngle());
flywheelIO.setMotionProfiledFlywheelVelocity(shotData.flywheelVelocityRotPerSec());
});
}

@Override
public Command rest() {
// TODO Auto-generated method stub
throw new UnsupportedOperationException("Unimplemented method 'rest'");
return this.run(
() -> {
hoodIO.setHoodPosition(HOOD_MIN_ROTATION); // TODO: TUNE TUCKED POSITION IF NEEDED
flywheelIO.setFlywheelVoltage(0.0);
});
}

@Override
public Command spit() {
// TODO Auto-generated method stub
throw new UnsupportedOperationException("Unimplemented method 'spit'");
return this.run(
() -> {
hoodIO.setHoodPosition(Rotation2d.kZero);
flywheelIO.setMotionProfiledFlywheelVelocity(20);
}); // TODO: TUNE HOOD POS AND FLYWHEEL VELOCITY
}

@Override
@AutoLogOutput(key = "Shooter/At Vel Setpoint")
public boolean atFlywheelVelocitySetpoint() {
// TODO Auto-generated method stub
throw new UnsupportedOperationException("Unimplemented method 'atFlywheelVelocitySetpoint'");
return MathUtil.isNear(
flywheelInputs.flywheelLeaderVelocityRotationsPerSecond,
flywheelIO.getSetpointRotPerSec(),
FLYWHEEL_VELOCITY_TOLERANCE_ROTATIONS_PER_SECOND);
}

@Override
@AutoLogOutput(key = "Shooter/Hood/At Setpoint")
public boolean atHoodSetpoint() {
// TODO Auto-generated method stub
throw new UnsupportedOperationException("Unimplemented method 'atHoodSetpoint'");
return MathUtil.isNear(
hoodInputs.hoodPositionRotations.getDegrees(), hoodIO.getHoodSetpoint().getDegrees(), 1);
}

@Override
public Command zeroHood() {
// TODO Auto-generated method stub
throw new UnsupportedOperationException("Unimplemented method 'zeroHood'");
return this.runOnce(() -> hoodIO.resetEncoder(HOOD_MIN_ROTATION));
}

@Override
public Command testShoot() {
// TODO Auto-generated method stub
throw new UnsupportedOperationException("Unimplemented method 'testShoot'");
return this.run(
() -> {
hoodIO.setHoodPosition(Rotation2d.fromDegrees(testDegrees.get()));
flywheelIO.setMotionProfiledFlywheelVelocity(testVelocity.get());
});
}

@Override
public Command shoot(Supplier<Pose2d> robotPoseSupplier) {
return this.run(
() -> {
ShotData shotData =
AutoAim.HUB_SHOT_TREE.get(AutoAim.distanceToHub(robotPoseSupplier.get()));
hoodIO.setHoodPosition(shotData.hoodAngle());
flywheelIO.setMotionProfiledFlywheelVelocity(shotData.flywheelVelocityRotPerSec());
});
}
}