From 30ae98492e1518dd70eccc5e34b7074910236e69 Mon Sep 17 00:00:00 2001
From: Ghost <145223182+GhostR406@users.noreply.github.com>
Date: Wed, 21 Jan 2026 20:21:11 -0500
Subject: [PATCH 1/2] WIP started State Enum!

---
 .../frc/robot/subsystems/hopper/Hopper.java   | 21 ++++++++++++++++++-
 1 file changed, 20 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/hopper/Hopper.java b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
index 039e7e1..67ca213 100644
--- a/src/main/java/frc/robot/subsystems/hopper/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
@@ -3,10 +3,29 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
 
-public class Hopper extends SubsystemBase {
+import static edu.wpi.first.units.Units.*;
+import static edu.wpi.first.units.Units;
 
+public class Hopper extends SubsystemBase {
     private FlywheelMechanism _io;
 
+    public enum State
+    {
+        OFF /*(Units.RevolutionsPerSecond.of(0.0))*/,
+        FORWARD_SLOW /*(Units.RevolutionsPerSecond.of(SLOW_SPEED_RPM/60))*/,
+        FORWARD_FAST /*(Units.RevolutionsPerSecond.of(FAST_SPEED_RPM/60))*/,
+        REVERSE /*(Units.RevolutionsPerSecond.of(REVERSE_SPEED_RPM/60))*/;
+
+        private final AngularVelocity _stateVelocity;
+
+        public State(AngularVelocity stateVelocity) {
+            _stateVelocity = stateVelocity;
+        }
+
+        // CREATE CONSTANTS FOR RPM OF EACH STATE IN HopperConstants !
+
+    }
+
     public Hopper(FlywheelMechanism io) {
         _io = io;
     }

From 129f2edba160f9fd36e4215de7e88bf95f7b370d Mon Sep 17 00:00:00 2001
From: Ghost <145223182+GhostR406@users.noreply.github.com>
Date: Thu, 22 Jan 2026 18:04:56 -0500
Subject: [PATCH 2/2] Might have finished hopper state idk! 1 / 22 / 26

---
 src/main/java/frc/robot/Constants.java          |  6 ++++++
 .../frc/robot/subsystems/hopper/Hopper.java     | 17 ++++++++---------
 2 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 56a69fb..d137f06 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -25,6 +25,7 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.units.AngularAccelerationUnit;
+import edu.wpi.first.units.AngularVelocityUnit;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularAcceleration;
 import edu.wpi.first.units.measure.AngularVelocity;
@@ -85,6 +86,11 @@ public class HopperConstants {
     public static final Distance MIN_DISTANCE = Inches.of(0.0);
     public static final Distance MAX_DISTANCE = Inches.of(15.0);
     public static final Distance STARTING_DISTANCE = Inches.of(0.0);
+
+    // CHANGE TO PROPER RPMS !!!!
+    public static final double SLOW_SPEED_RPM = 0.0;
+    public static final double FAST_SPEED_RPM = 0.0;
+    public static final double REVERSE_SPEED_RPM = 0.0;
   }
 
   public class Ports {
diff --git a/src/main/java/frc/robot/subsystems/hopper/Hopper.java b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
index 67ca213..23fdddc 100644
--- a/src/main/java/frc/robot/subsystems/hopper/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
@@ -4,26 +4,25 @@
 import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
 
 import static edu.wpi.first.units.Units.*;
-import static edu.wpi.first.units.Units;
+
+import edu.wpi.first.units.measure.*;
+import frc.robot.Constants.HopperConstants;
 
 public class Hopper extends SubsystemBase {
     private FlywheelMechanism _io;
 
     public enum State
     {
-        OFF /*(Units.RevolutionsPerSecond.of(0.0))*/,
-        FORWARD_SLOW /*(Units.RevolutionsPerSecond.of(SLOW_SPEED_RPM/60))*/,
-        FORWARD_FAST /*(Units.RevolutionsPerSecond.of(FAST_SPEED_RPM/60))*/,
-        REVERSE /*(Units.RevolutionsPerSecond.of(REVERSE_SPEED_RPM/60))*/;
+        OFF (RevolutionsPerSecond.of(0.0)),
+        FORWARD_SLOW (RevolutionsPerSecond.of(HopperConstants.SLOW_SPEED_RPM/60)),
+        FORWARD_FAST (RevolutionsPerSecond.of(HopperConstants.FAST_SPEED_RPM/60)),
+        REVERSE (RevolutionsPerSecond.of(HopperConstants.REVERSE_SPEED_RPM/60));
 
         private final AngularVelocity _stateVelocity;
 
-        public State(AngularVelocity stateVelocity) {
+        private State(AngularVelocity stateVelocity) {
             _stateVelocity = stateVelocity;
         }
-
-        // CREATE CONSTANTS FOR RPM OF EACH STATE IN HopperConstants !
-
     }
 
     public Hopper(FlywheelMechanism io) {