not sure if correct but turretsubsystem auto stubs filled by lQuasar9206 · Pull Request #29 · HighlanderRobotics/Rebuilt

lQuasar9206 · 2026-01-25T06:24:58Z

No description provided.

spellingcat · 2026-01-29T09:04:07Z

src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java

 public class TurretSubsystem extends SubsystemBase implements Shooter {
  /** Creates a new TurretSubsystem. */
-  public TurretSubsystem() {}
+  public static double HOOD_GEAR_RATIO = 24.230769;


typically we leave this in terms of like x / y so it's easier to see what the gears actually are

spellingcat · 2026-01-29T09:04:43Z

src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java

+    flywheelIO.updateInputs(flywheelInputs);
+    Logger.processInputs("Shooter/Flywheel", flywheelInputs);


make sure to also update and process hood inputs

spellingcat · 2026-01-29T09:06:17Z

src/main/java/frc/robot/Robot.java

+        shooter =
+            new TurretSubsystem(
+                ROBOT_MODE == RobotMode.REAL
+                    ? new FlywheelIO(FlywheelIO.getFlywheelConfiguration(), canivore)


make sure you're not using the same getFlywheelConfiguration and getHoodConfigurations as the alpha shooter. these will need to be new methods returning diff configs

spellingcat · 2026-01-29T09:09:05Z

src/main/java/frc/robot/Robot.java

+                    : new FlywheelIOSim(FlywheelIO.getFlywheelConfiguration(), canivore),
+                ROBOT_MODE == RobotMode.REAL
+                    ? new HoodIO(HoodIO.getHoodConfiguration(), canivore)
+                    : new HoodIOSim(canivore));


also, hoodio should probably have the motor passed in to the constructor as it's not always going to be the same motor or have the same settings. this then also means hoodiosim needs to also have the motor passed in the constructor as well as the physics sim with the physical parameters specific to the mechanism. you could make like a static getAlphaHoodSim method if that makes it easier

and same with flywheel

…erRobotics/Rebuilt into subsystem/flywheel-comp

vivi-o · 2026-02-01T22:18:40Z

src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java

should this also be hood min rotation?

idk what spit is actually supposed to do (did not write the command) so idk, just resets to zeroing position ig?

spit is supposed to just eject all the balls from the robot in case stuff gets jammed (so spitting out balls). but vivi is right that the minimum position the hood can go to is not 0 on the alpha and likely won't be 0 on comp either

vivi-o

Looks good to me. Make sure to run build as well before pushing so the formatter is happy

vivi-o · 2026-02-01T22:21:41Z

src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java

  }

  @Override
  public Command zeroHood() {


Add a method to the current zero the hood. You can steal this from the alpha code, but basically run the motors backwards until it's hitting the physical stop (using the current to tell), and then do zeroHood() so it's zeroed

did you want a command like current rezeroing like on seahorse:
public Command runCurrentZeroing() {
return setPivotVoltage(() -> -5.0)
.until(
new Trigger(() -> Math.abs(pivotCurrentFilterValue) > CURRENT_THRESHOLD).debounce(0.25))
.andThen(
Commands.parallel(Commands.print("Intake Zeroed"), zeroPivot(() -> ZEROING_POSITION)));
}
the rezero command is pretty similar on that compared to whats on here:
public Command rezero() {
// return this.runOnce(() -> pivotIO.resetEncoder(Rotation2d.kCCW_90deg));
return this.runOnce(() -> pivotIO.resetEncoder(ZEROING_ANGLE));
}

you can just look at the code in ShooterSubsystem on the feature/alpha-sotm branch. here

vivi-o · 2026-02-01T22:27:13Z

src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java

  /** Creates a new TurretSubsystem. */
-  public static double HOOD_GEAR_RATIO = 1;
  public static double HOOD_GEAR_RATIO_C = 1;
+  public static double FLYWHEEL_GEAR_RATIO_C = 1;


why is there FLYWHEEL_GEAR_RATIO_C and FLYWHEEL_GEAR_RATIO? (ig we don't know actual gear ratio yet bc cads not final?)

mb on naming but fwc is comp ratio and fw is alpha ratio (fixed now including gear ratios)

spellingcat · 2026-02-02T23:24:08Z

src/main/java/frc/robot/subsystems/shooter/FlywheelIO.java

in case the motor id's end up being different between alpha and comp it would be good to pass these in as 2 parameters instead (similar to how you passed in the gear ratio as a parameter for the sim to account for 2 different cases)

spellingcat · 2026-02-02T23:25:16Z

src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java

 /** Fixed shooter. !! ALPHA !! */
 public class ShooterSubsystem extends SubsystemBase implements Shooter {
-  public static double HOOD_GEAR_RATIO = 24.230769;
+  public static double HOOD_GEAR_RATIO_A = 24.230769;


because the alpha and comp gear ratios now live in 2 different files i think you can just name them both HOOD_GEAR_RATIO since they'll only ever be referred to with turret/shooter subsystem in front of them so there isn't confusion anymore

spellingcat · 2026-02-03T01:06:54Z

src/main/java/frc/robot/subsystems/shooter/HoodIO.java

@@ -55,7 +55,7 @@ public static class HoodIOInputs {

  public HoodIO(TalonFXConfiguration talonFXConfiguration, CANBus canbus) {
    hoodMotor = new TalonFX(11, canbus);


same note here about passing in the id as a parameter

spellingcat · 2026-02-03T01:07:36Z

src/main/java/frc/robot/subsystems/shooter/HoodIO.java

    return config;
  }

+  public static TalonFXConfiguration getHoodCompConfiguration() {


nitpick but i'd rename this to getCompHood... or getAlphaHood.. etc. also for flywheel

spellingcat · 2026-02-03T01:09:23Z

src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java

spit is supposed to just eject all the balls from the robot in case stuff gets jammed (so spitting out balls). but vivi is right that the minimum position the hood can go to is not 0 on the alpha and likely won't be 0 on comp either

spellingcat · 2026-02-03T01:11:41Z

src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java

  }

  @Override
  public Command zeroHood() {


you can just look at the code in ShooterSubsystem on the feature/alpha-sotm branch. here

spellingcat · 2026-02-03T01:12:19Z

src/main/java/frc/robot/Robot.java

    SimulatedArena.overrideInstance(new EvergreenArena());
  }

+  Indexer indexer = null;


remove. these only exist in the constructor because they immediately get passed to the superstructure and Robot.java doesn't need to "hold on" to them

spellingcat · 2026-02-03T01:13:14Z

src/main/java/frc/robot/Robot.java

    // autoChooser.addOption("Index Roller Sysid", indexer.runRollerSysId());
    // autoChooser.addOption("Intake Roller Sysid", intake.runRollerSysid());
    // autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid());
+    autoChooser.addOption(


remove this for now because the pit checks are going to be in a separate pr

spellingcat · 2026-02-03T01:14:13Z

src/main/java/frc/robot/subsystems/climber/ClimberSubsystem

@@ -0,0 +1,24 @@
+package frc.robot.subsystems.climber;


remove for now as ronan's doing the climber now

lQuasar9206 and others added 5 commits January 24, 2026 22:24

not sure if correct but turretsubsystem auto stubs filled

d53a47b

more stuff fixed

9c45310

comp bot case stuff

f9656e5

added hood

f0dc9b3

added hood

52ef37d

spellingcat requested changes Jan 29, 2026

View reviewed changes

lQuasar9206 added 6 commits January 30, 2026 22:21

discard this push

c7dd328

Merge branch 'subsystem/flywheel-comp' of https://github.com/Highland…

c47648c

…erRobotics/Rebuilt into subsystem/flywheel-comp

testing

65e282b

still need to work out sim stuff

147c490

hood comp/alpha integration done

d90f86a

hopefully shooter is done

85804a4

vivi-o self-requested a review February 1, 2026 21:40

vivi-o reviewed Feb 1, 2026

View reviewed changes

vivi-o requested changes Feb 1, 2026

View reviewed changes

lQuasar9206 added 2 commits February 1, 2026 20:11

real gear ratios

7b43f6c

renamed gearratios to prevent confusion

09d761e

spellingcat requested changes Feb 3, 2026

View reviewed changes

fixed some stuff

5c47735

		flywheelIO.updateInputs(flywheelInputs);
		Logger.processInputs("Shooter/Flywheel", flywheelInputs);

		@@ -55,7 +55,7 @@ public static class HoodIOInputs {

		public HoodIO(TalonFXConfiguration talonFXConfiguration, CANBus canbus) {
		hoodMotor = new TalonFX(11, canbus);

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lQuasar9206 commented Jan 25, 2026

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lQuasar9206 Feb 2, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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lQuasar9206 Feb 2, 2026 •

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