From 12df1bfc3d4a07bf5c637b3ba6e9d4200ab9b4bd Mon Sep 17 00:00:00 2001
From: rhit-halseysh <119546114+rhit-halseysh@users.noreply.github.com>
Date: Thu, 29 Jan 2026 19:28:32 -0500
Subject: [PATCH] Fix instantiation of RotaryMechCharacteristics and update
 Hopper setGoal method to include angular parameters

---
 src/main/java/frc/robot/Constants.java                | 2 +-
 src/main/java/frc/robot/subsystems/Vision/Vision.java | 2 ++
 src/main/java/frc/robot/subsystems/hopper/Hopper.java | 4 ++--
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 8579bd1..2e4003d 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -123,7 +123,7 @@ public final class ShooterConstants {
     public static final Angle STARTING_ANGLE = Rotations.of(0.0);
     public static final Distance WHEEL_RADIUS = Meters.of(0.5);
     public static final RotaryMechCharacteristics CONSTANTS =
-        RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
+        new RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
     public static final double IDLE_SPEED_RPM = (1.0);
     public static final double HUB_SPEED_RPM = (1.0);
     public static final double TOWER_SPEED_RPM = (1.0);
diff --git a/src/main/java/frc/robot/subsystems/Vision/Vision.java b/src/main/java/frc/robot/subsystems/Vision/Vision.java
index a58551e..ba4b9dc 100644
--- a/src/main/java/frc/robot/subsystems/Vision/Vision.java
+++ b/src/main/java/frc/robot/subsystems/Vision/Vision.java
@@ -1,3 +1,5 @@
+package frc.robot.subsystems.Vision;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 import frc.lib.W8.io.vision.VisionIO;
diff --git a/src/main/java/frc/robot/subsystems/hopper/Hopper.java b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
index d1ac91f..e86d633 100644
--- a/src/main/java/frc/robot/subsystems/hopper/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
@@ -12,7 +12,7 @@
 import static edu.wpi.first.units.Units.*;
 
 import edu.wpi.first.units.measure.*;
-import frc.robot.Constants.HopperConstants;
+import frc.robot.Constants.HopperConstants.*;
 
 public class Hopper extends SubsystemBase {
     private FlywheelMechanism _io;
@@ -37,7 +37,7 @@ public Hopper(FlywheelMechanism io) {
 
   public void setGoal(double position) {
     Distance positionInches = Inches.of(position);
-    _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), PIDSlot.SLOT_0);
+    _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
   }
 
   @Override