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4/7 - Made public int shotCompensation private, and added commands to change compensation #10

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Merged
Finn-253 merged 2 commits into from
Apr 22, 2026
Merged

4/7 - Made public int shotCompensation private, and added commands to change compensation #10

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d120e2b
4/7 - Added Shot Compensation Commands
Finn-253 Apr 8, 2026
db029cf
4/14 Updated BuildConstants fix?
Finn-253 Apr 15, 2026
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12 changes: 6 additions & 6 deletions src/main/java/frc/robot/BuildConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,13 +5,13 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "Code-2026";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 142;
public static final String GIT_SHA = "4fb583c31e5753e31de87fbdbbd55916f17e73f9";
public static final String GIT_DATE = "2026-04-04 15:52:37 EDT";
public static final int GIT_REVISION = 158;
public static final String GIT_SHA = "b6c923628e233616407657cfb9223cd528923c30";
public static final String GIT_DATE = "2026-04-13 01:23:41 EDT";
public static final String GIT_BRANCH = "test/2026/FullRobotV3";
public static final String BUILD_DATE = "2026-04-05 16:36:01 EDT";
public static final long BUILD_UNIX_TIME = 1775421361257L;
public static final String BUILD_DATE = "2026-04-13 23:35:41 EDT";
public static final long BUILD_UNIX_TIME = 1776137741238L;
public static final int DIRTY = 1;

private BuildConstants() {}
}
}
10 changes: 3 additions & 7 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -360,14 +360,10 @@ private void configureButtonBindings() {
swerveSubsystem)
.ignoringDisable(true));

driver.povUp().onTrue(Commands.runOnce(() -> hoodSubsystem.shotCompensation--, hoodSubsystem));
driver
.povDown()
.onTrue(Commands.runOnce(() -> hoodSubsystem.shotCompensation++, hoodSubsystem));
driver.povUp().onTrue(hoodSubsystem.decrementShotCompensationCommand());
driver.povDown().onTrue(hoodSubsystem.incrementShotCompensationCommand());

driver
.povLeft()
.onTrue(Commands.runOnce(() -> hoodSubsystem.shotCompensation = 0, hoodSubsystem));
driver.povLeft().onTrue(hoodSubsystem.resetShotCompensationCommand());

driver.povRight().whileTrue(flywheelSubsystem.runDebuggingVelocityCommand());

Expand Down
27 changes: 26 additions & 1 deletion src/main/java/frc/robot/subsystems/shooter/hood/HoodSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ public class HoodSubsystem extends FullSubsystem {

private Alert masterDisconnected;

@AutoLogOutput public int shotCompensation = 0;
@AutoLogOutput private int shotCompensation = 0;

/*
* Defines all possible states for the hood. Each goal state has a DoubleSupplier arguement that updates from Robot State. Note: Only input static choices.
Expand Down Expand Up @@ -209,6 +209,19 @@ public Command stopCommand() {
return runOnce(this::stop);
}

// ----------------------------------SHOT COMPENSATION COMMANDS------------------------------//
public Command incrementShotCompensationCommand() {
return runOnce(() -> incrementShotCompensation());
}

public Command decrementShotCompensationCommand() {
return runOnce(() -> decrementShotCompensation());
}

public Command resetShotCompensationCommand() {
return runOnce(() -> resetShotCompensation());
}

/**
* Manual override command to run a specific velocity. Note: This bypasses the "state machine".
*/
Expand All @@ -219,4 +232,16 @@ public Command runSetAngularCommand(DoubleSupplier angle) {
private void stop() {
outputs.mode = HoodIOOutputMode.BRAKE;
}

public void incrementShotCompensation() {
shotCompensation++;
}

public void decrementShotCompensation() {
shotCompensation--;
}

public void resetShotCompensation() {
shotCompensation = 0;
}
}
6 changes: 3 additions & 3 deletions vendordeps/AdvantageKit.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"fileName": "AdvantageKit.json",
"name": "AdvantageKit",
"version": "26.0.0",
"version": "26.0.2",
"uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
"frcYear": "2026",
"mavenUrls": [
Expand All @@ -12,14 +12,14 @@
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-java",
"version": "26.0.0"
"version": "26.0.2"
}
],
"jniDependencies": [
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-wpilibio",
"version": "26.0.0",
"version": "26.0.2",
"skipInvalidPlatforms": false,
"isJar": false,
"validPlatforms": [
Expand Down
62 changes: 31 additions & 31 deletions vendordeps/Phoenix6-26.1.0.json → vendordeps/Phoenix6-26.1.3.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"fileName": "Phoenix6-26.1.0.json",
"fileName": "Phoenix6-26.1.3.json",
"name": "CTRE-Phoenix (v6)",
"version": "26.1.0",
"version": "26.1.3",
"frcYear": "2026",
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [
Expand All @@ -19,14 +19,14 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "26.1.0"
"version": "26.1.3"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "api-cpp",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -40,7 +40,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -54,7 +54,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "api-cpp-sim",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -68,7 +68,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -82,7 +82,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -96,7 +96,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -110,7 +110,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -124,7 +124,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -138,7 +138,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -152,7 +152,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -166,7 +166,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -180,7 +180,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -194,7 +194,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -208,7 +208,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.1.0",
"version": "26.1.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -224,7 +224,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -240,7 +240,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -256,7 +256,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -272,7 +272,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -288,7 +288,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -304,7 +304,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -320,7 +320,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -336,7 +336,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -352,7 +352,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -368,7 +368,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -384,7 +384,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -400,7 +400,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimProCANrange",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -416,7 +416,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimProCANdi",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -432,7 +432,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.1.0",
"version": "26.1.3",
"libName": "CTRE_SimProCANdle",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand Down
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