added code for new drum shooter prototype by tomj-1 · Pull Request #114 · Prospect-Robotics/2026-Robot-Code

tomj-1 · 2026-03-21T02:16:32Z

Prototype code for drum shooter don't merge main

kcooney · 2026-03-21T16:51:46Z

        intakeExtension = new IntakeExtension(new IntakeExtensionIOSim());
        intakeRoller = new IntakeRoller(new IntakeRollerIOSim());

+        // todo fix sim code


This comment is a bit vague. Could you improve the comment to say more?

Thanks for all the comments, I updated to add sim code for shooter and kicker

spderman3333

This seems alright for now, though the names of the motors should be more descriptive, else it will be impossible to tweak individual motors.

spderman3333 · 2026-03-23T16:26:03Z

-    public AngularVelocity motorRotationalVelocity = RotationsPerSecond.of(0);
-    public Current motorStatorCurrent = Amps.of(0);
-    public Current motorSupplyCurrent = Amps.of(0);
+    public Voltage motor1Voltage = Volts.of(0);


Please name the motors based on their position (when looking at the robot from behind it). I.e: upperLeftMotor, lowerRightMotor, etc.

spderman3333 · 2026-03-23T16:27:10Z


 public class KickerIOReal implements KickerIO {
-  private final TalonFX motor;
+  private final TalonFX motor1;


Please rename these motors so they are more descriptive, and also append kicker to the front. (So it becomes uppperKickerMotor, and lowerKickerMotor.)

spderman3333 · 2026-03-23T16:27:35Z

-  private final FlywheelSim flywheelSim;
-  private final TalonFX motor;
-
-  public KickerIOSim() {
-    motor = new TalonFX(Constants.KICKER_MOTOR_ID);
-    flywheelSim =
-        new FlywheelSim(
-            LinearSystemId.createFlywheelSystem(
-                DCMotor.getKrakenX60(1),
-                KickerConstants.KICKER_SIM_MOI.in(
-                    KilogramSquareMeters), // "Moment of Inertia" taken from OnShape.
-                KickerConstants.KICKER_MOTOR_TO_FLYWHEEL_GEARING),
-            DCMotor.getKrakenX60(1));
-  }
-
-  @Override
-  public void setMotorVoltage(Voltage kickerMotorVoltage) {
-    double volts = kickerMotorVoltage.in(Volts);
-    motor.setVoltage(volts);
-    flywheelSim.setInputVoltage(volts);
-  }
-
-  @Override
-  public void updateState(KickerIOInputs inputs) {
-    updateSimulation();
-
-    inputs.motorVoltage = motor.getMotorVoltage().getValue();
-    inputs.motorRotationalVelocity = motor.getVelocity().getValue();
-    inputs.motorStatorCurrent = motor.getStatorCurrent().getValue();
-    inputs.motorSupplyCurrent = motor.getSupplyCurrent().getValue();
-  }
-
-  private void updateSimulation() {
-    flywheelSim.update(Constants.SIM_TIME_PERIOD);
-
-    TalonFXSimState simState = motor.getSimState();
-    simState.setRotorAcceleration(flywheelSim.getAngularAcceleration());
-    simState.setRotorVelocity(flywheelSim.getAngularVelocity());
-    simState.setSupplyVoltage(Volts.of(12));
-  }
-
-  @Override
-  public void close() {
-    motor.close();


Please dont delete the sim code.

spderman3333 · 2026-03-23T16:28:14Z

@@ -15,6 +15,12 @@ class KickerConstants {
  static final String RESIST_FUEL_PREFERENCE_NT = "Kicker/RESIST_FUEL_VOLTAGE";

  static final TalonFXConfiguration KICKER_MOTOR_CONFIG =


More descriptive name here (i.e. UPPER_KICKER_MOTOR_CONFIG).

spderman3333 · 2026-03-23T16:28:21Z

+              new MotorOutputConfigs().withInverted(InvertedValue.CounterClockwise_Positive))
+          .withCurrentLimits(new CurrentLimitsConfigs().withStatorCurrentLimit(Amps.of(35)));
+
+  static final TalonFXConfiguration KICKER_MOTOR_2_CONFIG =


spderman3333 · 2026-03-23T16:28:44Z

+    inputs.motor1Current = motor1.getStatorCurrent().getValue();
+
+    inputs.motor2Voltage = motor2.getMotorVoltage().getValue();
+    inputs.motor2RotationalVelocity = motor2.getVelocity().getValue();


Make sure to update the motor names here too.

spderman3333 · 2026-03-23T16:29:18Z

@@ -59,7 +69,17 @@ public class ShooterConstants {
                  .withStatorCurrentLimit(Amps.of(70))
                  .withSupplyCurrentLimit(50));

-  public static final TalonFXConfiguration FOLLOWER_SHOOTER_MOTOR_CONFIG =
+  public static final TalonFXConfiguration SHOOTER_MOTOR_3_CONFIG =
+      new TalonFXConfiguration()
+          .withMotorOutput(new MotorOutputConfigs().withInverted(InvertedValue.CounterClockwise_Positive))
+          .withSlot0(
+              new Slot0Configs().withKS(0.099892).withKV(0.115).withKA(0.0020241).withKP(0.026743))
+          .withCurrentLimits(
+              new CurrentLimitsConfigs()
+                  .withStatorCurrentLimit(Amps.of(70))
+                  .withSupplyCurrentLimit(50));
+
+  public static final TalonFXConfiguration SHOOTER_MOTOR_4_CONFIG =


Please rename the configs so they are descriptive.

spderman3333 · 2026-03-23T16:29:37Z

+    public double shooterMotor1VoltageVolts = 0;
+    public double shooterMotor1AngleRotations = 0;
+    public double shooterMotor1RotPerSec = 0;
+    public double shooterMotor1CurrentAmps = 0;
+    public double shooter1SetpointRotsPerSec = 0;
+
+    public double shooterMotor2VoltageVolts = 0;
+    public double shooterMotor2AngleRotations = 0;
+    public double shooterMotor2RotPerSec = 0;
+    public double shooterMotor2CurrentAmps = 0;
+    public double shooter2SetpointRotsPerSec = 0;
+
+    public double shooterMotor3VoltageVolts = 0;
+    public double shooterMotor3AngleRotations = 0;
+    public double shooterMotor3RotPerSec = 0;
+    public double shooterMotor3CurrentAmps = 0;
+    public double shooter3SetpointRotsPerSec = 0;
+
+    public double shooterMotor4VoltageVolts = 0;
+    public double shooterMotor4AngleRotations = 0;
+    public double shooterMotor4RotPerSec = 0;
+    public double shooterMotor4CurrentAmps = 0;
+    public double shooter4SetpointRotsPerSec = 0;


More descriptive names here too please.

spderman3333 · 2026-03-23T16:29:59Z

I think you get the point, (more descriptive names).

added code for new drum shooter prototype

f6069a7

tomj-1 requested a review from spderman3333 March 21, 2026 02:16

kcooney reviewed Mar 21, 2026

View reviewed changes

updated based on Mr.Cooney's comments

facfb29

tomj-1 changed the title ~~added code for new drum shooter prototype~~ added code for new drum shooter prototype[DO NOT MERGE MAIN] Mar 21, 2026

tomj-1 requested a review from vdikov March 21, 2026 19:57

vdikov approved these changes Mar 21, 2026

View reviewed changes

tomj-1 added 3 commits March 21, 2026 13:19

added can ids

c88e420

added kicker shoot to operator controller for testing

dc0a0ab

reversed invert type of all motor

8d2f272

cuttestkittensrule changed the base branch from main to full-width-shooter March 22, 2026 00:36

cuttestkittensrule changed the title ~~added code for new drum shooter prototype[DO NOT MERGE MAIN]~~ added code for new drum shooter prototype Mar 22, 2026

tomj-1 added 3 commits March 21, 2026 18:08

changes invert type of kicker motor 2 based on protype behavior

4f07594

fixed kicker motor 2 config

7352f9a

updatrs from prototyping

2e92bdc

spderman3333 assigned tomj-1 and spderman3333 Mar 23, 2026

spderman3333 reviewed Mar 23, 2026

View reviewed changes

spderman3333 and others added 10 commits March 23, 2026 14:00

Renamed shooter motors so they are clearer

39911a6

More name refactoring

da6dee2

Logging upper left motor position

f03763b

Prepping to add new motors to ShooterIOReal

f22c909

Added new logging values to ShooterIO

69a8814

Created protype code for the wide shooter

54ad251

Updated sim shooter

ede1e8b

spotless apply

e94cd2e

Merge branch 'main' into full-width-shooter

da096ff

Merge branch 'full-width-shooter' into tom-drum-shooter-prototype

71efedd

Base automatically changed from full-width-shooter to main April 22, 2026 04:25

		@@ -15,6 +15,12 @@ class KickerConstants {
		static final String RESIST_FUEL_PREFERENCE_NT = "Kicker/RESIST_FUEL_VOLTAGE";

		static final TalonFXConfiguration KICKER_MOTOR_CONFIG =

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tomj-1 commented Mar 21, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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tomj-1 commented Mar 21, 2026 •

edited

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