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Fix instantiation of RotaryMechCharacteristics and update Hopper setG… #37

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Merged
rhit-halseysh merged 1 commit into from
Jan 30, 2026
Merged

Fix instantiation of RotaryMechCharacteristics and update Hopper setG… #37

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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/subsystems/Vision/Vision.java
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@@ -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;
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/hopper/Hopper.java
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Expand Up @@ -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;
Expand All @@ -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
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