Feature/stow update by CameronMyhre · Pull Request #64 · Team537/RobotCode2026

CameronMyhre · 2026-04-11T00:44:34Z

No description provided.

… 0.1 second delay to the transfer activating

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

CrumblzTheEgg

works

Copilot

Pull request overview

Updates turret “stow” behavior and operator controls, while introducing infrastructure for scaling drive speeds during shooting.

Changes:

Reworked TurretSubsystem#getStowCommand() to push the hood down open-loop until encoder velocity is stable (with a safety angle cutoff), then reset hood angle.
Added a drive output scaling hook (speedScaleSupplier) and a new Constants.Operator.Drive.SHOOTING_SPEED_SCALE constant.
Updated RobotContainer bindings to select fixed targets (A/B), track X/Y holds, run turret targeting while shooting, and default the turret to stow in teleop.

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 9 comments.

File	Description
`src/main/java/frc/robot/subsystems/TurretSubsystem.java`	Adds hood velocity accessor and rewrites stow command using velocity/settling logic and an encoder reset.
`src/main/java/frc/robot/subsystems/DriveSubsystem.java`	Adds speed scaling supplier + applies scaling to chassis speeds.
`src/main/java/frc/robot/RobotContainer.java`	Adds/adjusts button bindings for targeting selection and makes turret target only while shoot is held; defaults turret to stow in teleop.
`src/main/java/frc/robot/Constants.java`	Adds/updates constants for shooting speed scale, hood stow tuning, and transfer load delay.

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Copilot · 2026-04-11T00:54:52Z

+        Command settleDown = Commands.run(
                () -> {
-                    setHoodAngle(Constants.Turret.HOOD_STOW_POSITION);
-                },
-
-                interrupted -> {
+                    pitchServo.setSpeed((Constants.Turret.PITCH_INVERTED ? -1.0 : 1.0) * -Constants.Turret.STOW_PUSH_DOWN_SPEED);
+                    SmartDashboard.putBoolean("Hood Pushing", true);
                },


settleDown drives the hood servo open-loop but never disables hoodClosedLoopActive; periodic() will keep writing PID output while closed-loop is active, which can override/fight this command. Consider explicitly disabling closed-loop at the start of stow (e.g., call stopHoodServo() / set hoodClosedLoopActive = false) before applying the constant push-down speed.

Copilot · 2026-04-11T00:54:52Z

+            // ensure the servo is stopped when this command completes
+            .andThen(() -> {
+                pitchServo.setSpeed(0.0);
+                settleTimer.stop();
+                settleTimer.reset();
+            }
+            );


The servo stop/reset logic is in an .andThen(...), which only runs on normal completion. If getStowCommand() is interrupted (e.g., by a targeting command), the hood servo can be left running at the last push-down speed. Use a command form that defines an end(interrupted)/finallyDo to always stop the servo and reset/stop the timer on both completion and interruption.

Suggested change

// ensure the servo is stopped when this command completes

.andThen(() -> {

pitchServo.setSpeed(0.0);

settleTimer.stop();

settleTimer.reset();

}

);

// ensure the servo and timer are cleaned up on both completion and interruption

.finallyDo(() -> {

pitchServo.setSpeed(0.0);

settleTimer.stop();

settleTimer.reset();

});

Copilot · 2026-04-11T00:54:52Z

-                },
-
-                interrupted -> {
+                    pitchServo.setSpeed((Constants.Turret.PITCH_INVERTED ? -1.0 : 1.0) * -Constants.Turret.STOW_PUSH_DOWN_SPEED);


STOW_PUSH_DOWN_SPEED is defined as a positive magnitude, but it is negated at the callsite and then conditionally inverted again via PITCH_INVERTED. This makes the sign convention hard to reason about and easy to break if PITCH_INVERTED changes. Prefer keeping STOW_PUSH_DOWN_SPEED in the motor/servo's native sign convention and remove the extra negation here (or rename it to STOW_PUSH_DOWN_MAGNITUDE and handle sign in one place).

Suggested change

pitchServo.setSpeed((Constants.Turret.PITCH_INVERTED ? -1.0 : 1.0) * -Constants.Turret.STOW_PUSH_DOWN_SPEED);

pitchServo.setSpeed((Constants.Turret.PITCH_INVERTED ? 1.0 : -1.0) * Constants.Turret.STOW_PUSH_DOWN_SPEED);

Copilot · 2026-04-11T00:54:53Z

+    new Trigger(
+        () -> operatorController.getAButton()).onTrue(
+            new InstantCommand(() -> selectedFixedTarget = FixedTarget.A));
+
+    new Trigger(
+        () -> operatorController.getBButton()).onTrue(
+            new InstantCommand(() -> selectedFixedTarget = FixedTarget.B));
+
+    new Trigger(
+        () -> operatorController.getXButton()).onTrue(
+            new InstantCommand(() -> xHeld = true))
+        .onFalse(
+            new InstantCommand(() -> xHeld = false));
+
+    new Trigger(
+        () -> operatorController.getYButton()).onTrue(
+            new InstantCommand(() -> yHeld = true))
+        .onFalse(
+            new InstantCommand(() -> yHeld = false));
+


configureBindings() now registers A/B/X/Y button triggers near the top of the method, but the file already registers A/B/X triggers again later in the same method. This duplication schedules redundant InstantCommands and makes the binding logic harder to maintain; consolidate these into a single set of bindings (and keep Y consistent as well).

Suggested change

new Trigger(

() -> operatorController.getAButton()).onTrue(

new InstantCommand(() -> selectedFixedTarget = FixedTarget.A));

new Trigger(

() -> operatorController.getBButton()).onTrue(

new InstantCommand(() -> selectedFixedTarget = FixedTarget.B));

new Trigger(

() -> operatorController.getXButton()).onTrue(

new InstantCommand(() -> xHeld = true))

.onFalse(

new InstantCommand(() -> xHeld = false));

new Trigger(

() -> operatorController.getYButton()).onTrue(

new InstantCommand(() -> yHeld = true))

.onFalse(

new InstantCommand(() -> yHeld = false));

Copilot · 2026-04-11T00:54:53Z

+    // Speed scaling (e.g. 0.5 to limit to 50% while shooting)
+    private Supplier<Double> speedScaleSupplier = () -> 1.0;
+


The speed-scale feature is currently not wired up anywhere (no calls to setSpeedScaleSupplier in the codebase), so speedScaleSupplier will always be 1.0 and this change has no effect. Either connect it from RobotContainer (e.g., scale while shootTrigger is active using Constants.Operator.Drive.SHOOTING_SPEED_SCALE) or remove the unused API/constant.

Suggested change

// Speed scaling (e.g. 0.5 to limit to 50% while shooting)

private Supplier<Double> speedScaleSupplier = () -> 1.0;

Copilot · 2026-04-11T00:54:53Z

        }

+        // Apply speed scale (e.g. 50% while shooting)
+        double scale = MathUtil.clamp(speedScaleSupplier.get(), 0.0, 1.0);


MathUtil.clamp(...) does not guard against NaN/Infinity; if the supplier ever returns a non-finite value, the chassis speeds become non-finite and could propagate into the swerve drive. Consider sanitizing the supplier output (e.g., treat non-finite as 1.0 or 0.0) before applying it.

Suggested change

double scale = MathUtil.clamp(speedScaleSupplier.get(), 0.0, 1.0);

double rawScale = speedScaleSupplier.get();

double scale = MathUtil.clamp(Double.isFinite(rawScale) ? rawScale : 1.0, 0.0, 1.0);

Copilot · 2026-04-11T00:54:53Z

-        public static final double STOW_PUSH_DOWN_SPEED = -0.3; // percent of max speed
-        public static final double STOW_PUSH_DOWN_TIME = 0.5; // seconds
+        public static final double STOW_PUSH_DOWN_SPEED = 0.6; // percent of max speed
+        public static final double STOW_PUSH_DOWN_TIME = 0.1; // seconds


STOW_PUSH_DOWN_TIME is still defined but is no longer used by getStowCommand(). Either remove the constant or reintroduce a timeout/safety bound that uses it (especially if the velocity-based settle condition could fail due to encoder noise).

Suggested change

public static final double STOW_PUSH_DOWN_TIME = 0.1; // seconds

Copilot · 2026-04-11T00:54:54Z

+        public static final Rotation2d HOOD_START_POSITION = Rotation2d.fromDegrees(8.00);
+
+        public static final double HOOD_STABLE_TIME = 0.1;
+        public static final double HOOD_STABLE = 5;


HOOD_STABLE is newly added but not referenced anywhere. If it was intended as a stability threshold/count, wire it into the stow/settle logic; otherwise remove it to avoid stale/unused configuration values.

Suggested change

public static final double HOOD_STABLE = 5;

Copilot · 2026-04-11T00:54:54Z


+        public static final double LOAD_DELAY = 0.1; //Time between shooter and transfer being triggered, shooter should always activate first


LOAD_DELAY is newly added but not referenced anywhere in the codebase. If the intent is to enforce a shooter-before-transfer delay, incorporate this into the relevant command scheduling logic; otherwise remove the unused constant.

Suggested change

public static final double LOAD_DELAY = 0.1; //Time between shooter and transfer being triggered, shooter should always activate first

davidpolcen-sudo and others added 12 commits April 7, 2026 18:40

feat: updated the turret default command to getStow and added delay a…

ad0a345

… 0.1 second delay to the transfer activating

Improved the logic for the getStow command

fc4c007

Fixed the settle command logic

521389d

Run at 50% speed when the shooter button is pressed

4749b4e

Remove unused import

c34030c

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Remove unused import

7e9c230

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Add move to stow position before calling settle down

80f2d4a

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

fix: remove arbitrary targeting on the stow command

6b66f49

feat: add hood angle reset and remove unessesary constants.

564befc

fix: set variable correctly and rename variables so they make more sense

853bd7f

Merge branch 'dev' into feature/stow_update

3389dc0

refactor: rework base hood angle to account for hardstop

8a1c7dc

CameronMyhre added the Tested This code has been tested on the robot or in a setting enough to guarantee robot functionality. label Apr 11, 2026

Merge branch 'dev' into feature/stow_update

ccc69d6

CameronMyhre requested review from CrumblzTheEgg, davidpolcen-sudo and quipp and removed request for CrumblzTheEgg, davidpolcen-sudo and quipp April 11, 2026 00:47

CrumblzTheEgg approved these changes Apr 11, 2026

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CameronMyhre merged commit 72846a1 into dev Apr 11, 2026
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quipp requested a review from Copilot April 11, 2026 00:50

Copilot started reviewing on behalf of quipp April 11, 2026 00:51 View session

Copilot AI reviewed Apr 11, 2026

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Feature/stow update#64

Feature/stow update#64
CameronMyhre merged 13 commits intodevfrom
feature/stow_update

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	pitchServo.setSpeed((Constants.Turret.PITCH_INVERTED ? -1.0 : 1.0) * -Constants.Turret.STOW_PUSH_DOWN_SPEED);
	pitchServo.setSpeed((Constants.Turret.PITCH_INVERTED ? 1.0 : -1.0) * Constants.Turret.STOW_PUSH_DOWN_SPEED);

		// Speed scaling (e.g. 0.5 to limit to 50% while shooting)
		private Supplier<Double> speedScaleSupplier = () -> 1.0;

	double scale = MathUtil.clamp(speedScaleSupplier.get(), 0.0, 1.0);
	double rawScale = speedScaleSupplier.get();
	double scale = MathUtil.clamp(Double.isFinite(rawScale) ? rawScale : 1.0, 0.0, 1.0);


		public static final double LOAD_DELAY = 0.1; //Time between shooter and transfer being triggered, shooter should always activate first

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Pull request overview

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