Coral Placing Commands #15
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…ng-TRIGON/RobotCodeOffSeason2025 into coral-scoring-commands
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WalkthroughAdds reef-scoring support: new CoralPlacingCommands with manual/autonomous branches and ScoringLevel; new ReefChooser for HID-driven reef selection; FieldConstants extended with reef enums, poses, and transforms; OperatorConstants exposes ReefChooser and triggers; Elevator adds atState() and atTargetState(); ElevatorConstants adds HEIGHT_TOLERANCE_METERS and import tidy. Changes
Sequence Diagram(s)sequenceDiagram
autonumber
participant Operator
participant ReefChooser
participant CmdFactory as CoralPlacingCommands
participant Drive
participant Elevator
participant Arm
participant Gripper
Note over Operator,ReefChooser: Operator sets reef clock/side/level via triggers/HID
Operator->>ReefChooser: set level / clock / side
Operator->>CmdFactory: getScoreInReefFromGripperCommand(shouldScoreRight)
CmdFactory->>ReefChooser: getScoringLevel() / calculateTargetScoringPose()
alt SHOULD_SCORE_AUTONOMOUSLY == true
CmdFactory->>Drive: drive to reef target pose (async)
par Prepare robot
CmdFactory->>Elevator: set elevator state
CmdFactory->>Arm: set arm state
and Autonomous release
CmdFactory->>Gripper: auto-release when gated ready
end
CmdFactory->>Elevator: monitor atTargetState()
else Manual path
CmdFactory->>Gripper: run load sequence
par Manual scoring
CmdFactory->>Elevator: set elevator state
CmdFactory->>Arm: set arm state
CmdFactory->>Gripper: release on manual command
end
end
CmdFactory-->>Operator: command completes
sequenceDiagram
autonumber
participant System
participant ReefChooser
participant Triggers
Note over System: ReefChooser delayed binding initialization
System->>ReefChooser: new ReefChooser(port)
ReefChooser-->>ReefChooser: wait 3s then configure bindings
ReefChooser->>Triggers: bind L1-L4, clock buttons, left/right
Triggers-->>ReefChooser: update internal state on input
Estimated code review effort🎯 4 (Complex) | ⏱️ ~60 minutes Pre-merge checks (2 passed, 1 warning)❌ Failed checks (1 warning)
✅ Passed checks (2 passed)
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✨ Finishing touches
🧪 Generate unit tests
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Actionable comments posted: 11
Caution
Some comments are outside the diff and can’t be posted inline due to platform limitations.
⚠️ Outside diff range comments (1)
src/main/java/frc/trigon/robot/subsystems/elevator/Elevator.java (1)
49-55: Unit mismatch in SysId logging (rotations reported as meters).linearPosition and linearVelocity should be in meters/ m·s⁻¹. You’re logging rotations.
Apply:
- log.motor("Elevator") - .linearPosition(Units.Meters.of(getPositionRotations())) - .linearVelocity(Units.MetersPerSecond.of(masterMotor.getSignal(TalonFXSignal.VELOCITY))) + log.motor("Elevator") + .linearPosition(Units.Meters.of(getPositionMeters())) + .linearVelocity(Units.MetersPerSecond.of( + rotationsToMeters(masterMotor.getSignal(TalonFXSignal.VELOCITY)) + ))
🧹 Nitpick comments (9)
src/main/java/frc/trigon/robot/subsystems/elevator/ElevatorConstants.java (1)
86-86: Consider exposing or centralizing elevator tolerance.0.01 m may be tighter than field reality; if this drives gating logic elsewhere, consider making it configurable or at least record it to logs for tuning.
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java (3)
214-221: Guard L1 transforms.L1 uses NaN transforms; ensure calculateTargetPlacingPosition is never called for L1 or throw with a clear message to avoid propagating NaNs.
public FlippablePose2d calculateTargetPlacingPosition(FieldConstants.ReefClockPosition reefClockPosition, FieldConstants.ReefSide reefSide) { + if (this == L1) { + throw new IllegalStateException("L1 placing pose is not defined; this method should not be called for L1."); + }
40-47: Race/Repeat semantics: verify WaitUntilChangeCommand usage.The repeated race between setting elevator state and waiting for chooser changes can thrash if chooser toggles quickly. Consider debouncing chooser updates or gating on equality with current target before repeating.
128-136: Distance calculation: OK but consider caching pose.You call calculateClosestScoringPose twice in close succession in this class; consider caching per cycle in RobotContainer if used frequently.
src/main/java/frc/trigon/robot/misc/ReefChooser.java (3)
3-5: Replace magic 3s delay with HID-connected gate (avoid early scheduling from static init).Scheduling from the constructor with a fixed
WaitCommand(3)is brittle and may run before devices are available or the scheduler is fully ready. Gate on the HID actually being connected instead.Apply:
-import edu.wpi.first.wpilibj2.command.WaitCommand; +import edu.wpi.first.wpilibj2.command.WaitUntilCommand; +import edu.wpi.first.wpilibj.DriverStation; @@ - new WaitCommand(3).andThen(this::configureBindings).ignoringDisable(true).schedule(); + new WaitUntilCommand(() -> DriverStation.isJoystickConnected(port)) + .andThen(this::configureBindings) + .ignoringDisable(true) + .schedule();Verify on both sim and real hardware that bindings appear immediately when the device enumerates (no arbitrary delay).
Also applies to: 25-26
86-89: Harden face-index mapping against future misuse.This relies on enum order and assumes 0–11. Add a guard so accidental out-of-range calls fail fast.
- private void setFaceFromIndex(int index) { + private void setFaceFromIndex(int index) { + final int faces = FieldConstants.REEF_CLOCK_POSITIONS * FieldConstants.ReefSide.values().length; + if (index < 0 || index >= faces) + throw new IllegalArgumentException("Invalid reef face index: " + index); clockPosition = FieldConstants.ReefClockPosition.values()[index / 2]; reefSide = FieldConstants.ReefSide.values()[index % 2]; }
115-129: Remove or wire the unused level increment/decrement helpers.Dead code adds maintenance overhead. Either bind them to buttons or drop them for now.
src/main/java/frc/trigon/robot/constants/FieldConstants.java (1)
20-22: RenameI_HATE_YOUand use a Set for clarity/perf.Professional naming helps maintenance; a
Setcommunicates intent and gives O(1) membership tests.- private static final List<Integer> I_HATE_YOU = List.of( - 13, 12, 16, 15, 14, 4, 5, 3, 2, 1 - ); + private static final java.util.Set<Integer> IGNORED_TAG_IDS = java.util.Set.of( + 13, 12, 16, 15, 14, 4, 5, 3, 2, 1 + ); @@ - if (!I_HATE_YOU.contains(aprilTag.ID)) + if (!IGNORED_TAG_IDS.contains(aprilTag.ID)) tagIdToPose.put(aprilTag.ID, aprilTag.pose.transformBy(TAG_OFFSET));Also applies to: 61-63
src/main/java/frc/trigon/robot/constants/OperatorConstants.java (1)
15-18: Be cautious with static initialization order forREEF_CHOOSER.Since
ReefChooserschedules work in its constructor, creating it here can run before the scheduler/devices are ready. If you adopt theWaitUntilCommandgate suggested in ReefChooser, this is fine; otherwise, consider lazy-init or invoking binding from robot/container init.Also applies to: 25-26
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📒 Files selected for processing (6)
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java(1 hunks)src/main/java/frc/trigon/robot/constants/FieldConstants.java(3 hunks)src/main/java/frc/trigon/robot/constants/OperatorConstants.java(3 hunks)src/main/java/frc/trigon/robot/misc/ReefChooser.java(1 hunks)src/main/java/frc/trigon/robot/subsystems/elevator/Elevator.java(3 hunks)src/main/java/frc/trigon/robot/subsystems/elevator/ElevatorConstants.java(4 hunks)
🧰 Additional context used
🪛 GitHub Actions: Java CI with Gradle
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
[error] 26-26: constructor ConditionalCommand in class ConditionalCommand cannot be applied to given types; required: Command,Command,BooleanSupplier; found: ProxyCommand,()->...
[error] 41-41: cannot find symbol: method getLoadCoralCommand() in CoralCollectionCommands
[error] 43-43: no suitable method found for getSetTargetStateCommand(REEF_CHOOSER::getElevatorState)
[error] 51-51: cannot find symbol: method getLoadCoralCommand() in CoralCollectionCommands
[error] 63-63: no suitable method found for ArmCommands.getSetTargetStateCommand()
[error] 64-64: cannot find symbol: method atState(ElevatorState) on ELEVATOR
[error] 65-65: invalid method reference: Elevator::isCloseEnoughToOpenGripper not found
[error] 72-72: package GripperConstants does not exist
[error] 73-73: cannot find symbol: GripperCommands
[error] 74-74: cannot find symbol: method atState(ElevatorState) on ELEVATOR
[error] 85-85: cannot find symbol: GripperCommands.getPrepareForStateCommand(REEF_CHOOSER::getGripperState)
[error] 91-91: cannot find symbol: GripperCommands.getSetTargetStateCommand(REEF_CHOOSER::getGripperState)
[error] 97-97: cannot find symbol: GripperCommands.getPrepareForStateCommand(REEF_CHOOSER::getGripperState).until(OperatorConstants.CONTINUE_TRIGGER)
[error] 98-98: cannot find symbol: GripperCommands.getSetTargetStateCommand(REEF_CHOOSER::getGripperState)
[error] 104-104: cannot find symbol: GripperCommands.getPrepareForScoringInL4Command(REEF_CHOOSER::calculateTargetScoringPose)
[error] 107-107: cannot find symbol: GripperCommands.getScoreInL4Command(REEF_CHOOSER::calculateTargetScoringPose)
[error] 113-113: no suitable method found for ElevatorCommands.getSetTargetStateCommand(REEF_CHOOSER::getElevatorState)
[error] 114-114: cannot find symbol: shouldScoreRight
[error] 122-122: package AutonomousConstants does not exist
🔇 Additional comments (11)
src/main/java/frc/trigon/robot/subsystems/elevator/ElevatorConstants.java (1)
113-120: Hardware gains are zero on real hardware — confirm intent or provide safe defaultskP/kI/kD/kS/kV/kA/kG are set to 0 when RobotHardwareStats.isSimulation() is false; MotionMagic will not regulate with these values.
- Add an inline comment if zeros are intentional.
- Otherwise initialize safe starter gains or load Slot0 gains from WPILib Preferences.
File: src/main/java/frc/trigon/robot/subsystems/elevator/ElevatorConstants.java (lines 113–120)
config.Slot0.kP = RobotHardwareStats.isSimulation() ? 3.5 : 0; config.Slot0.kI = RobotHardwareStats.isSimulation() ? 0 : 0; config.Slot0.kD = RobotHardwareStats.isSimulation() ? 0.4 : 0; config.Slot0.kS = RobotHardwareStats.isSimulation() ? 0.016165 : 0; config.Slot0.kV = RobotHardwareStats.isSimulation() ? 0.4766 : 0; config.Slot0.kA = RobotHardwareStats.isSimulation() ? 0.014239 : 0; config.Slot0.kG = RobotHardwareStats.isSimulation() ? 0.58202 : 0;Need a template to load Slot0 gains from WPILib Preferences?
src/main/java/frc/trigon/robot/subsystems/elevator/Elevator.java (1)
79-82: atTargetState() looks good.Simple, readable tolerance check using constants.
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java (4)
111-116: Reference to AutonomousConstants without import and potential capture issue.Add the import (see earlier diff). Also ensure shouldScoreRight is effectively final (method param is fine).
95-101: .until(OperatorConstants.CONTINUE_TRIGGER) compatibility.If CONTINUE_TRIGGER isn’t a BooleanSupplier, use
.until(OperatorConstants.CONTINUE_TRIGGER::getAsBoolean).
139-156: Distance-minimization loop: looks good.Nearest clock-angle scoring pose selection is clean and efficient.
118-126: Signature verified — confirm constraint constant typeSwerveCommands.getDriveToPoseCommand(Supplier, PathConstraints) exists so the Supplier you pass is correct; confirm AutonomousConstants.DRIVE_TO_REEF_CONSTRAINTS is a PathConstraints instance (and that calculateClosestScoringPose returns FlippablePose2d).
src/main/java/frc/trigon/robot/misc/ReefChooser.java (1)
44-54: API surface looks solid.Pose, arm, and elevator state accessors are cohesive and side-effect free.
src/main/java/frc/trigon/robot/constants/FieldConstants.java (3)
84-90: AllReefClockPositionentries setisFacingDriverStation = true— likely incorrect.The flip logic in
ReefSide.shouldFlipYTransform()depends on this flag. With alltrue, flipping degenerates to side-only behavior and may produce wrong Y transforms on half the reef.Proposed mapping (please verify against field geometry):
- REEF_12_OCLOCK(true), - REEF_2_OCLOCK(true), - REEF_4_OCLOCK(true), - REEF_6_OCLOCK(true), - REEF_8_OCLOCK(true), - REEF_10_OCLOCK(true); + REEF_12_OCLOCK(true), + REEF_2_OCLOCK(true), + REEF_4_OCLOCK(true), + REEF_6_OCLOCK(false), + REEF_8_OCLOCK(false), + REEF_10_OCLOCK(false);If orientation differs by alliance or mirroring, consider deriving this from pose/angle instead of hard-coding.
Also applies to: 92-99, 78-81
29-36: ConfirmRotation2d.unaryMinus()availability in your WPILib version.If you target an older release, replace with
Rotation2d.fromRadians(-AUTO_FIND_CORAL_POSE_LEFT_ROTATION.getRadians()).
39-47: Clock-angle math is clean and self-consistent.Using
REEF_CLOCK_POSITION_DIFFERENCE.times(-ordinal())and exposing a precomputedREEF_CLOCK_ANGLESarray is tidy.Also applies to: 101-111
src/main/java/frc/trigon/robot/constants/OperatorConstants.java (1)
47-59: Trigger mapping looks good and covers the intended UX.Direct binds for L1–L4, clock positions, and side selection are clear and discoverable.
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
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| return new ConditionalCommand( | ||
| getScoreInReefFromGripperCommand(shouldScoreRight).asProxy(), | ||
| () -> REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1 | ||
| ); | ||
| } |
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ConditionalCommand missing the “onFalse” command argument.
Constructor is (onTrue, onFalse, condition). Add an else branch (e.g., Commands.none()) and make the condition match intent.
- return new ConditionalCommand(
- getScoreInReefFromGripperCommand(shouldScoreRight).asProxy(),
- () -> REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1
- );
+ return new ConditionalCommand(
+ getScoreInReefFromGripperCommand(shouldScoreRight).asProxy(),
+ Commands.none(),
+ () -> REEF_CHOOSER.getScoringLevel() != ScoringLevel.L1
+ );Committable suggestion skipped: line range outside the PR's diff.
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[error] 26-26: constructor ConditionalCommand in class ConditionalCommand cannot be applied to given types; required: Command,Command,BooleanSupplier; found: ProxyCommand,()->...
🤖 Prompt for AI Agents
In
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
around lines 26-30, the ConditionalCommand invocation is using the two-argument
constructor incorrectly (the lambda is being passed as the onFalse parameter);
add an explicit else branch such as Commands.none() as the second argument and
pass the condition lambda as the third argument (ensure the condition expression
matches the intended logic, e.g., REEF_CHOOSER.getScoringLevel() ==
ScoringLevel.L1 if that was intended).
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
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| return CoralCollectionCommands.getLoadCoralCommand().asProxy().andThen( | ||
| new ParallelCommandGroup( | ||
| ElevatorCommands.getSetTargetStateCommand(REEF_CHOOSER::getElevatorState).raceWith(new WaitUntilChangeCommand<>(REEF_CHOOSER::getElevatorState)).repeatedly(), | ||
| getGripperScoringSequenceCommand() | ||
| ).asProxy() | ||
| ); | ||
| } |
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💡 Verification agent
🧩 Analysis chain
Unknown method CoralCollectionCommands.getLoadCoralCommand().
Name/signature likely differs. Verify the actual API and fix the call.
Run to locate the available load/intake methods and signatures:
🏁 Script executed:
#!/bin/bash
rg -nP -C2 --type=java '\bclass\s+CoralCollectionCommands\b|getLoad.*Coral|get.*Intake.*Coral|getLoadCommand' Length of output: 2226
Fix unknown call to CoralCollectionCommands.getLoadCoralCommand()
CoralCollectionCommands does not define getLoadCoralCommand(); it defines public static Command getCoralCollectionCommand(). Update the call sites in src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java (lines 41 and 51) to use getCoralCollectionCommand() or the correct factory and ensure the returned Command is compatible with .asProxy().andThen(...).
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[error] 41-41: cannot find symbol: method getLoadCoralCommand() in CoralCollectionCommands
[error] 43-43: no suitable method found for getSetTargetStateCommand(REEF_CHOOSER::getElevatorState)
🤖 Prompt for AI Agents
In
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
around lines 41 to 47 (and also update the other occurrence at line 51), replace
the invalid call to CoralCollectionCommands.getLoadCoralCommand() with the
correct CoralCollectionCommands.getCoralCollectionCommand(), and ensure the
returned Command is used in the same way (call .asProxy() before .andThen(...));
also update any imports or types if necessary so the Command returned is
compatible with .asProxy() and the surrounding chaining.
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
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src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
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| return new SequentialCommandGroup( | ||
| GripperCommands.getSetTargetStateCommand(GripperConstants.GripperState.OPEN_FOR_NOT_HITTING_REEF) | ||
| .unless(() -> RobotContainer.ELEVATOR.atState(REEF_CHOOSER.getElevatorState()) || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1) | ||
| .until(RobotContainer.ELEVATOR::isCloseEnoughToOpenGripper), | ||
| new ConditionalCommand( |
There was a problem hiding this comment.
Same issue for auto gripper sequence: non-existent Elevator APIs.
- GripperCommands.getSetTargetStateCommand(GripperConstants.GripperState.OPEN_FOR_NOT_HITTING_REEF)
- .unless(() -> RobotContainer.ELEVATOR.atState(REEF_CHOOSER.getElevatorState()) || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1)
- .until(RobotContainer.ELEVATOR::isCloseEnoughToOpenGripper),
+ GripperCommands.getSetTargetStateCommand(GripperConstants.GripperState.OPEN_FOR_NOT_HITTING_REEF)
+ .unless(() -> RobotContainer.ELEVATOR.atTargetState()
+ || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2
+ || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1)
+ .until(RobotContainer.ELEVATOR::atTargetState),📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| return new SequentialCommandGroup( | |
| GripperCommands.getSetTargetStateCommand(GripperConstants.GripperState.OPEN_FOR_NOT_HITTING_REEF) | |
| .unless(() -> RobotContainer.ELEVATOR.atState(REEF_CHOOSER.getElevatorState()) || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1) | |
| .until(RobotContainer.ELEVATOR::isCloseEnoughToOpenGripper), | |
| new ConditionalCommand( | |
| return new SequentialCommandGroup( | |
| GripperCommands.getSetTargetStateCommand(GripperConstants.GripperState.OPEN_FOR_NOT_HITTING_REEF) | |
| .unless(() -> RobotContainer.ELEVATOR.atTargetState() | |
| || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 | |
| || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1) | |
| .until(RobotContainer.ELEVATOR::atTargetState), | |
| new ConditionalCommand( |
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[error] 72-72: package GripperConstants does not exist
[error] 73-73: cannot find symbol: GripperCommands
[error] 74-74: cannot find symbol: method atState(ElevatorState) on ELEVATOR
🤖 Prompt for AI Agents
In
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
around lines 71-75, the lambda uses non-existent Elevator APIs (atState and
isCloseEnoughToOpenGripper). Replace those calls with the actual Elevator
contract: either call RobotContainer.ELEVATOR.getPosition() and compare it to
the target height from REEF_CHOOSER.getElevatorState() using an existing
tolerance constant (e.g., ElevatorConstants.OPEN_GRIPPER_POSITION_TOLERANCE), or
add a small helper on Elevator (e.g., isAtTargetHeight(targetHeight, tolerance)
or isCloseTo(targetHeight)) and use that; update the unless() predicate to check
the current position-vs-target and the until() to use the real proximity method
(or the new helper) so the code compiles against the real Elevator API.
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
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| public enum ScoringLevel { | ||
| L1(Double.NaN, Double.NaN, null), | ||
| L2(FieldConstants.REEF_CENTER_TO_TARGET_SCORING_POSITION_X_TRANSFORM_METERS, FieldConstants.REEF_CENTER_TO_TARGET_SCORING_POSITION_Y_TRANSFORM_METERS, Rotation2d.fromDegrees(0)), | ||
| L3(L2.xTransformMeters, L2.positiveYTransformMeters, Rotation2d.fromDegrees(0)), | ||
| L4(L2.xTransformMeters, L2.positiveYTransformMeters, Rotation2d.fromDegrees(0)); | ||
|
|
||
| public final ElevatorConstants.ElevatorState elevatorState; | ||
| public final ArmConstants.ArmState armState; | ||
| public final int level = calculateLevel(); | ||
| final double xTransformMeters, positiveYTransformMeters; | ||
| final Rotation2d rotationTransform; | ||
|
|
||
| /** | ||
| * Constructs a scoring level with the given x and y transform. | ||
| * The elevator and gripper state are determined automatically based on the scoring level. | ||
| * | ||
| * @param xTransformMeters the x transform from the middle of the reef to the target placing position | ||
| * @param positiveYTransformMeters the y transform from the middle of the reef to the target placing position. | ||
| * This must be positive (to account for flipping later on), and might be flipped depending on operator input (left or right reef side) | ||
| * @param rotationTransform the angle to be facing the reef with the robot. Might change when scoring from the coral intake | ||
| */ | ||
| ScoringLevel(double xTransformMeters, double positiveYTransformMeters, Rotation2d rotationTransform) { | ||
| this.xTransformMeters = xTransformMeters; | ||
| this.positiveYTransformMeters = positiveYTransformMeters; | ||
| this.rotationTransform = rotationTransform; | ||
| this.elevatorState = determineElevatorState(); | ||
| this.armState = determineArmState(); | ||
| } |
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Enum state mapping by ordinal is off-by-one and brittle.
L2→SCORE_L1, L3→SCORE_L2, etc. Use explicit mapping on enum constants.
- this.elevatorState = determineElevatorState();
- this.armState = determineArmState();
+ this.elevatorState = switch (this) {
+ case L1 -> ElevatorConstants.ElevatorState.SCORE_L1;
+ case L2 -> ElevatorConstants.ElevatorState.SCORE_L2;
+ case L3 -> ElevatorConstants.ElevatorState.SCORE_L3;
+ case L4 -> ElevatorConstants.ElevatorState.SCORE_L4;
+ };
+ this.armState = switch (this) {
+ case L1 -> ArmConstants.ArmState.SCORE_L1;
+ case L2 -> ArmConstants.ArmState.SCORE_L2;
+ case L3 -> ArmConstants.ArmState.SCORE_L3;
+ case L4 -> ArmConstants.ArmState.SCORE_L4;
+ };Optionally delete determineElevatorState()/determineArmState().
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Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| public enum ScoringLevel { | |
| L1(Double.NaN, Double.NaN, null), | |
| L2(FieldConstants.REEF_CENTER_TO_TARGET_SCORING_POSITION_X_TRANSFORM_METERS, FieldConstants.REEF_CENTER_TO_TARGET_SCORING_POSITION_Y_TRANSFORM_METERS, Rotation2d.fromDegrees(0)), | |
| L3(L2.xTransformMeters, L2.positiveYTransformMeters, Rotation2d.fromDegrees(0)), | |
| L4(L2.xTransformMeters, L2.positiveYTransformMeters, Rotation2d.fromDegrees(0)); | |
| public final ElevatorConstants.ElevatorState elevatorState; | |
| public final ArmConstants.ArmState armState; | |
| public final int level = calculateLevel(); | |
| final double xTransformMeters, positiveYTransformMeters; | |
| final Rotation2d rotationTransform; | |
| /** | |
| * Constructs a scoring level with the given x and y transform. | |
| * The elevator and gripper state are determined automatically based on the scoring level. | |
| * | |
| * @param xTransformMeters the x transform from the middle of the reef to the target placing position | |
| * @param positiveYTransformMeters the y transform from the middle of the reef to the target placing position. | |
| * This must be positive (to account for flipping later on), and might be flipped depending on operator input (left or right reef side) | |
| * @param rotationTransform the angle to be facing the reef with the robot. Might change when scoring from the coral intake | |
| */ | |
| ScoringLevel(double xTransformMeters, double positiveYTransformMeters, Rotation2d rotationTransform) { | |
| this.xTransformMeters = xTransformMeters; | |
| this.positiveYTransformMeters = positiveYTransformMeters; | |
| this.rotationTransform = rotationTransform; | |
| this.elevatorState = determineElevatorState(); | |
| this.armState = determineArmState(); | |
| } | |
| public enum ScoringLevel { | |
| L1(Double.NaN, Double.NaN, null), | |
| L2(FieldConstants.REEF_CENTER_TO_TARGET_SCORING_POSITION_X_TRANSFORM_METERS, FieldConstants.REEF_CENTER_TO_TARGET_SCORING_POSITION_Y_TRANSFORM_METERS, Rotation2d.fromDegrees(0)), | |
| L3(L2.xTransformMeters, L2.positiveYTransformMeters, Rotation2d.fromDegrees(0)), | |
| L4(L2.xTransformMeters, L2.positiveYTransformMeters, Rotation2d.fromDegrees(0)); | |
| public final ElevatorConstants.ElevatorState elevatorState; | |
| public final ArmConstants.ArmState armState; | |
| public final int level = calculateLevel(); | |
| final double xTransformMeters, positiveYTransformMeters; | |
| final Rotation2d rotationTransform; | |
| /** | |
| * Constructs a scoring level with the given x and y transform. | |
| * The elevator and gripper state are determined automatically based on the scoring level. | |
| * | |
| * @param xTransformMeters the x transform from the middle of the reef to the target placing position | |
| * @param positiveYTransformMeters the y transform from the middle of the reef to the target placing position. | |
| * This must be positive (to account for flipping later on), and might be flipped depending on operator input (left or right reef side) | |
| * @param rotationTransform the angle to be facing the reef with the robot. Might change when scoring from the coral intake | |
| */ | |
| ScoringLevel(double xTransformMeters, double positiveYTransformMeters, Rotation2d rotationTransform) { | |
| this.xTransformMeters = xTransformMeters; | |
| this.positiveYTransformMeters = positiveYTransformMeters; | |
| this.rotationTransform = rotationTransform; | |
| this.elevatorState = switch (this) { | |
| case L1 -> ElevatorConstants.ElevatorState.SCORE_L1; | |
| case L2 -> ElevatorConstants.ElevatorState.SCORE_L2; | |
| case L3 -> ElevatorConstants.ElevatorState.SCORE_L3; | |
| case L4 -> ElevatorConstants.ElevatorState.SCORE_L4; | |
| }; | |
| this.armState = switch (this) { | |
| case L1 -> ArmConstants.ArmState.SCORE_L1; | |
| case L2 -> ArmConstants.ArmState.SCORE_L2; | |
| case L3 -> ArmConstants.ArmState.SCORE_L3; | |
| case L4 -> ArmConstants.ArmState.SCORE_L4; | |
| }; | |
| } |
| private int calculateLevel() { | ||
| if (ordinal() == 0) | ||
| return 1; | ||
| return ordinal(); | ||
| } |
There was a problem hiding this comment.
Level calculation is wrong (L2 becomes 1).
Use ordinal()+1.
- if (ordinal() == 0)
- return 1;
- return ordinal();
+ return ordinal() + 1;📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| private int calculateLevel() { | |
| if (ordinal() == 0) | |
| return 1; | |
| return ordinal(); | |
| } | |
| private int calculateLevel() { | |
| return ordinal() + 1; | |
| } |
🤖 Prompt for AI Agents
In
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
around lines 244 to 248, the calculateLevel() implementation incorrectly maps
the first non-zero ordinal to 1 by special-casing ordinal()==0; instead return
ordinal()+1 for all cases so Level 1 maps to 1, Level 2 maps to 2, etc.; update
the method to compute and return ordinal()+1 (remove the conditional).
There was a problem hiding this comment.
Actionable comments posted: 1
♻️ Duplicate comments (9)
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java (9)
3-19: Missing imports for referenced classes.The file references several classes that are not imported, which will cause compilation failures.
Add the missing import statements:
import edu.wpi.first.wpilibj2.command.*; +import frc.trigon.robot.commands.commandclasses.GeneralCommands; import frc.trigon.robot.RobotContainer; import frc.trigon.robot.commands.commandclasses.WaitUntilChangeCommand; import frc.trigon.robot.constants.FieldConstants; import frc.trigon.robot.constants.OperatorConstants; +import frc.trigon.robot.constants.AutonomousConstants; import frc.trigon.robot.misc.ReefChooser; import frc.trigon.robot.subsystems.arm.ArmCommands; import frc.trigon.robot.subsystems.arm.ArmConstants; import frc.trigon.robot.subsystems.elevator.ElevatorCommands; import frc.trigon.robot.subsystems.elevator.ElevatorConstants; +import frc.trigon.robot.subsystems.swerve.SwerveCommands; +import frc.trigon.robot.commands.commandfactories.CoralCollectionCommands;
24-30: Fix ConditionalCommand constructor parameter order.The
getContinuousConditionalCommandmethod is likely expecting the same parameter order asConditionalCommand, but the condition logic appears to be incorrect for the intended behavior.Based on the naming and logic, this should run autonomous when the condition is true. Apply this fix:
- return GeneralCommands.getContinuousConditionalCommand( - getAutonomouslyScoreInReefFromGripperCommand(shouldScoreRight).asProxy(), - getManuallyScoreInReefFromGripperCommand().asProxy(), - () -> SHOULD_SCORE_AUTONOMOUSLY && REEF_CHOOSER.getScoringLevel() != ScoringLevel.L1 - ).until(() -> REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1); + return GeneralCommands.getContinuousConditionalCommand( + getAutonomouslyScoreInReefFromGripperCommand(shouldScoreRight).asProxy(), + getManuallyScoreInReefFromGripperCommand().asProxy(), + () -> SHOULD_SCORE_AUTONOMOUSLY && REEF_CHOOSER.getScoringLevel() != ScoringLevel.L1 + ).until(() -> REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1);
32-39: Fix method call and parameter type mismatch.
CoralCollectionCommands.getLoadCoralCommand()doesn't exist, andElevatorCommands.getSetTargetStateCommand()expects a value, not a method reference.Apply this fix:
- return CoralCollectionCommands.getLoadCoralCommand().asProxy().andThen( + return CoralCollectionCommands.getCoralCollectionCommand().asProxy().andThen( new ParallelCommandGroup( - ElevatorCommands.getSetTargetStateCommand(REEF_CHOOSER::getElevatorState).raceWith(new WaitUntilChangeCommand<>(REEF_CHOOSER::getElevatorState)).repeatedly(), + ElevatorCommands.getSetTargetStateCommand(REEF_CHOOSER.getElevatorState()).raceWith(new WaitUntilChangeCommand<>(REEF_CHOOSER::getElevatorState)).repeatedly(), getArmScoringSequenceCommand() ).asProxy() );
41-51: Fix method call and remove trailing andThen().Same issues as the manual command, plus a stray
.andThen()with no arguments.Apply this fix:
- CoralCollectionCommands.getLoadCoralCommand().asProxy().andThen( + CoralCollectionCommands.getCoralCollectionCommand().asProxy().andThen( new ParallelCommandGroup( getOpenElevatorWhenCloseToReefCommand(shouldScoreRight), getAutoGripperScoringSequenceCommand(shouldScoreRight) ).asProxy().raceWith(new WaitUntilChangeCommand<>(REEF_CHOOSER::getElevatorState)).repeatedly() ), getAutonomousDriveToReefThenManualDriveCommand(shouldScoreRight) - ).andThen(); + );
74-100: Fix references to non-existent GripperCommands class.These methods reference
GripperCommandswhich doesn't exist in the codebase.These methods need to be updated to use existing APIs or marked as TODOs until the
GripperCommandsclass is implemented:private static Command scoreFromGripperReefChooserCommand(boolean shouldScoreRight) { + // TODO: Implement when GripperCommands class is available + return Commands.none(); + /* return new SequentialCommandGroup( - GripperCommands.getPrepareForStateCommand(REEF_CHOOSER::getGripperState).raceWith( + // GripperCommands.getPrepareForStateCommand(REEF_CHOOSER::getGripperState).raceWith( new SequentialCommandGroup( new WaitUntilCommand(() -> canAutonomouslyReleaseFromGripper(shouldScoreRight)), new WaitUntilChangeCommand<>(RobotContainer.ROBOT_POSE_ESTIMATOR::getEstimatedRobotPose) - ) - ).until(OperatorConstants.CONTINUE_TRIGGER), - GripperCommands.getSetTargetStateCommand(REEF_CHOOSER::getGripperState).finallyDo(OperatorConstants.REEF_CHOOSER::switchReefSide) + // ) + // ).until(OperatorConstants.CONTINUE_TRIGGER), + // GripperCommands.getSetTargetStateCommand(REEF_CHOOSER::getGripperState).finallyDo(OperatorConstants.REEF_CHOOSER::switchReefSide) ); + */ }Apply similar fixes to the other methods that reference
GripperCommands.
102-107: Fix parameter type mismatch and missing AutonomousConstants.The method expects a value, not a method reference, and
AutonomousConstantsis missing.Apply this fix:
return GeneralCommands.runWhen( - ElevatorCommands.getSetTargetStateCommand(REEF_CHOOSER::getElevatorState), + ElevatorCommands.getSetTargetStateCommand(REEF_CHOOSER.getElevatorState()), () -> calculateDistanceToTargetScoringPose(shouldScoreRight) < AutonomousConstants.MINIMUM_DISTANCE_FROM_REEF_TO_OPEN_ELEVATOR );
213-233: Use explicit enum mapping instead of ordinal-based logic.The current implementation uses ordinal-based mapping which is brittle and error-prone. The mapping appears to be off by one.
Replace with explicit enum mapping:
private ElevatorConstants.ElevatorState determineElevatorState() { - return switch (ordinal()) { - case 0 -> ElevatorConstants.ElevatorState.REST; - case 1 -> ElevatorConstants.ElevatorState.SCORE_L1; - case 2 -> ElevatorConstants.ElevatorState.SCORE_L2; - case 3 -> ElevatorConstants.ElevatorState.SCORE_L3; - case 4 -> ElevatorConstants.ElevatorState.SCORE_L4; - default -> throw new IllegalStateException("Unexpected value: " + ordinal()); - }; + return switch (this) { + case L1 -> ElevatorConstants.ElevatorState.SCORE_L1; + case L2 -> ElevatorConstants.ElevatorState.SCORE_L2; + case L3 -> ElevatorConstants.ElevatorState.SCORE_L3; + case L4 -> ElevatorConstants.ElevatorState.SCORE_L4; + }; } private ArmConstants.ArmState determineArmState() { - return switch (ordinal()) { - case 0 -> null; - case 1 -> ArmConstants.ArmState.SCORE_L1; - case 2 -> ArmConstants.ArmState.SCORE_L2; - case 3 -> ArmConstants.ArmState.SCORE_L3; - case 4 -> ArmConstants.ArmState.SCORE_L4; - default -> throw new IllegalStateException("Unexpected value: " + ordinal()); - }; + return switch (this) { + case L1 -> ArmConstants.ArmState.SCORE_L1; + case L2 -> ArmConstants.ArmState.SCORE_L2; + case L3 -> ArmConstants.ArmState.SCORE_L3; + case L4 -> ArmConstants.ArmState.SCORE_L4; + }; }
235-239: Fix incorrect level calculation logic.The current logic incorrectly maps L1 (ordinal 0) to level 1, but other levels are off by one.
Apply this fix:
private int calculateLevel() { - if (ordinal() == 0) - return 1; - return ordinal(); + return ordinal() + 1; }
53-59: Fix compilation errors in arm scoring sequence.Multiple syntax and API issues need to be addressed.
Based on the pipeline errors and other similar patterns, apply this fix:
return new SequentialCommandGroup( - ArmCommands.getSetTargetStateCommand() - .unless(() -> RobotContainer.ELEVATOR.atState(REEF_CHOOSER.getElevatorState()) || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1) + ArmCommands.getSetTargetStateCommand(REEF_CHOOSER.getArmState()) + .unless(() -> RobotContainer.ELEVATOR.atTargetState() + || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 + || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1), scoreFromGripperReefChooserCommand() );
🧹 Nitpick comments (1)
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java (1)
109-117: Consider uncommenting autonomous drive command.The autonomous drive functionality is commented out, which may be intentional for testing but should be addressed.
If this functionality is needed, uncomment and fix the method:
-// private static Command getAutonomousDriveToReefThenManualDriveCommand(boolean shouldScoreRight) { -// return new SequentialCommandGroup( -// SwerveCommands.getDriveToPoseCommand( -// () -> CoralPlacingCommands.calculateClosestScoringPose(shouldScoreRight), -// AutonomousConstants.DRIVE_TO_REEF_CONSTRAINTS -// ), -// GeneralCommands.getFieldRelativeDriveCommand() -// ); -// } + private static Command getAutonomousDriveToReefThenManualDriveCommand(boolean shouldScoreRight) { + // TODO: Implement when SwerveCommands.getDriveToPoseCommand is available + return GeneralCommands.getFieldRelativeDriveCommand(); + /* + return new SequentialCommandGroup( + SwerveCommands.getDriveToPoseCommand( + () -> CoralPlacingCommands.calculateClosestScoringPose(shouldScoreRight), + AutonomousConstants.DRIVE_TO_REEF_CONSTRAINTS + ), + GeneralCommands.getFieldRelativeDriveCommand() + ); + */ + }
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src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java(1 hunks)
🧰 Additional context used
🧠 Learnings (2)
📚 Learning: 2025-09-11T09:14:50.990Z
Learnt from: levyishai
PR: Programming-TRIGON/RobotCodeOffSeason2025#15
File: src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java:163-166
Timestamp: 2025-09-11T09:14:50.990Z
Learning: The Swerve subsystem's atPose method is designed to accept FlippablePose2d directly, not Pose2d. The method signature is `public boolean atPose(FlippablePose2d pose2d)` and it handles the internal conversion to Pose2d by calling pose2d.get().
Applied to files:
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
📚 Learning: 2025-09-11T09:14:50.990Z
Learnt from: levyishai
PR: Programming-TRIGON/RobotCodeOffSeason2025#15
File: src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java:163-166
Timestamp: 2025-09-11T09:14:50.990Z
Learning: FlippablePose2d is a custom class in this codebase that can be used directly with the Swerve subsystem's atPose method, without needing to call .get() to convert it to a standard Pose2d.
Applied to files:
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
🧬 Code graph analysis (1)
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java (13)
src/main/java/frc/trigon/robot/RobotContainer.java (1)
RobotContainer(45-119)src/main/java/frc/trigon/robot/commands/commandclasses/WaitUntilChangeCommand.java (1)
WaitUntilChangeCommand(7-31)src/main/java/frc/trigon/robot/constants/FieldConstants.java (1)
FieldConstants(16-113)src/main/java/frc/trigon/robot/constants/OperatorConstants.java (1)
OperatorConstants(10-60)src/main/java/frc/trigon/robot/misc/ReefChooser.java (1)
ReefChooser(16-130)src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java (1)
ArmCommands(12-50)src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java (1)
ArmConstants(32-255)src/main/java/frc/trigon/robot/subsystems/elevator/ElevatorCommands.java (1)
ElevatorCommands(10-35)src/main/java/frc/trigon/robot/subsystems/elevator/ElevatorConstants.java (1)
ElevatorConstants(27-188)src/main/java/lib/utilities/flippable/FlippablePose2d.java (1)
FlippablePose2d(11-58)src/main/java/lib/utilities/flippable/FlippableTranslation2d.java (1)
FlippableTranslation2d(9-35)src/main/java/frc/trigon/robot/commands/commandfactories/GeneralCommands.java (1)
GeneralCommands(15-65)src/main/java/frc/trigon/robot/commands/commandfactories/CoralCollectionCommands.java (1)
CoralCollectionCommands(17-52)
🪛 GitHub Actions: Java CI with Gradle
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
[error] 56-56: gradlew build: ')' expected at CoralPlacingCommands.java:56 (likely missing semicolon after chained '.unless(...)' call).
[error] 57-57: gradlew build: ';' expected at CoralPlacingCommands.java:57 (likely due to the previous line missing a semicolon).
🔇 Additional comments (1)
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java (1)
153-157: LGTM - atPose method accepts FlippablePose2d directly.Based on the retrieved learnings, the Swerve subsystem's
atPosemethod acceptsFlippablePose2ddirectly and handles the internal conversion.
| private static Command getAutoGripperScoringSequenceCommand(boolean shouldScoreRight) { | ||
| return new SequentialCommandGroup( | ||
| ArmCommands.getSetTargetStateCommand(ArmCommands.getSetTargetStateCommand().OPEN_FOR_NOT_HITTING_REEF) | ||
| .unless(() -> RobotContainer.ELEVATOR.atState(REEF_CHOOSER.getElevatorState()) || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1) | ||
| .until(RobotContainer.ELEVATOR::isCloseEnoughToOpenGripper), | ||
| new ConditionalCommand( | ||
| scoreFromGripperInL4Command(shouldScoreRight), | ||
| scoreFromGripperReefChooserCommand(shouldScoreRight), | ||
| () -> REEF_CHOOSER.getScoringLevel() == ScoringLevel.L4 | ||
| ) | ||
| ); | ||
| } |
There was a problem hiding this comment.
Fix multiple compilation errors in gripper scoring sequence.
The code references non-existent classes and methods, and has syntax errors.
This method references GripperCommands and other classes that don't exist in the codebase. The implementation needs to be updated to use existing APIs or the missing classes need to be added to the PR. Since this appears to be placeholder code, consider commenting it out or implementing with existing classes:
private static Command getAutoGripperScoringSequenceCommand(boolean shouldScoreRight) {
+ // TODO: Implement when GripperCommands class is available
+ return Commands.none();
+ /*
return new SequentialCommandGroup(
- ArmCommands.getSetTargetStateCommand(ArmCommands.getSetTargetStateCommand().OPEN_FOR_NOT_HITTING_REEF)
- .unless(() -> RobotContainer.ELEVATOR.atState(REEF_CHOOSER.getElevatorState()) || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1)
- .until(RobotContainer.ELEVATOR::isCloseEnoughToOpenGripper),
+ // GripperCommands.getSetTargetStateCommand(GripperConstants.GripperState.OPEN_FOR_NOT_HITTING_REEF)
+ // .unless(() -> RobotContainer.ELEVATOR.atTargetState()
+ // || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2
+ // || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1)
+ // .until(RobotContainer.ELEVATOR::atTargetState),
new ConditionalCommand(
scoreFromGripperInL4Command(shouldScoreRight),
scoreFromGripperReefChooserCommand(shouldScoreRight),
() -> REEF_CHOOSER.getScoringLevel() == ScoringLevel.L4
)
);
+ */
}📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| private static Command getAutoGripperScoringSequenceCommand(boolean shouldScoreRight) { | |
| return new SequentialCommandGroup( | |
| ArmCommands.getSetTargetStateCommand(ArmCommands.getSetTargetStateCommand().OPEN_FOR_NOT_HITTING_REEF) | |
| .unless(() -> RobotContainer.ELEVATOR.atState(REEF_CHOOSER.getElevatorState()) || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1) | |
| .until(RobotContainer.ELEVATOR::isCloseEnoughToOpenGripper), | |
| new ConditionalCommand( | |
| scoreFromGripperInL4Command(shouldScoreRight), | |
| scoreFromGripperReefChooserCommand(shouldScoreRight), | |
| () -> REEF_CHOOSER.getScoringLevel() == ScoringLevel.L4 | |
| ) | |
| ); | |
| } | |
| private static Command getAutoGripperScoringSequenceCommand(boolean shouldScoreRight) { | |
| // TODO: Implement when GripperCommands class is available | |
| return Commands.none(); | |
| /* | |
| return new SequentialCommandGroup( | |
| // GripperCommands.getSetTargetStateCommand(GripperConstants.GripperState.OPEN_FOR_NOT_HITTING_REEF) | |
| // .unless(() -> RobotContainer.ELEVATOR.atTargetState() | |
| // || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L2 | |
| // || REEF_CHOOSER.getScoringLevel() == ScoringLevel.L1) | |
| // .until(RobotContainer.ELEVATOR::atTargetState), | |
| new ConditionalCommand( | |
| scoreFromGripperInL4Command(shouldScoreRight), | |
| scoreFromGripperReefChooserCommand(shouldScoreRight), | |
| () -> REEF_CHOOSER.getScoringLevel() == ScoringLevel.L4 | |
| ) | |
| ); | |
| */ | |
| } |
🤖 Prompt for AI Agents
In
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
around lines 61 to 72, the getAutoGripperScoringSequenceCommand method
references non-existent classes/methods and contains syntax errors (invalid
nested call to ArmCommands.getSetTargetStateCommand and references to missing
GripperCommands), which causes compilation failures; replace calls to undefined
classes/methods with the correct existing APIs (e.g., call the real ArmCommands
method once to get the target state command, use existing RobotContainer
gripper/elevator helpers, and swap any GripperCommands.* references to the
actual gripper command class in the codebase), or if the intended behavior is
not yet implemented, comment out or return a safe no-op/placeholder Command
until the proper APIs are available; ensure conditional logic uses valid method
references and lambdas and import any referenced classes.
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Actionable comments posted: 0
Caution
Some comments are outside the diff and can’t be posted inline due to platform limitations.
⚠️ Outside diff range comments (1)
src/main/java/frc/trigon/robot/subsystems/elevator/Elevator.java (1)
51-53: Fix SysId logging units (rotations ≠ meters).You're reporting position/velocity in meters but feeding rotations/rotations-per-second. This corrupts SysId data and derived gains.
Apply:
- .linearPosition(Units.Meters.of(getPositionRotations())) - .linearVelocity(Units.MetersPerSecond.of(masterMotor.getSignal(TalonFXSignal.VELOCITY))) + .linearPosition(Units.Meters.of(getPositionMeters())) + .linearVelocity(Units.MetersPerSecond.of(rotationsToMeters(masterMotor.getSignal(TalonFXSignal.VELOCITY))))
🧹 Nitpick comments (4)
src/main/java/frc/trigon/robot/subsystems/elevator/Elevator.java (4)
39-46: Also apply brake/stop to follower motor.Keeps both motors’ neutral/drive states consistent; avoids asymmetric drag.
public void setBrake(boolean brake) { - masterMotor.setBrake(brake); + masterMotor.setBrake(brake); + ElevatorConstants.FOLLOWER_MOTOR.setBrake(brake); } ... public void stop() { - masterMotor.stopMotor(); + masterMotor.stopMotor(); + ElevatorConstants.FOLLOWER_MOTOR.stopMotor(); }
78-85: LGTM; minor API polish and tolerance edge-case.Consider param rename to avoid shadowing and allow equality in tolerance.
- public boolean atState(ElevatorConstants.ElevatorState targetState) { - return targetState == this.targetState && atTargetState(); + public boolean atState(ElevatorConstants.ElevatorState expectedState) { + return expectedState == this.targetState && atTargetState(); } ... - return currentToTargetStateDifferenceMeters < ElevatorConstants.HEIGHT_TOLERANCE_METERS; + return currentToTargetStateDifferenceMeters <= ElevatorConstants.HEIGHT_TOLERANCE_METERS;
111-113: Use >= for stage limit transition.Prevents a 1-step “deadband” exactly at the limit.
- private boolean isSecondStageComponentLimitReached() { - return getPositionMeters() > ElevatorConstants.SECOND_ELEVATOR_COMPONENT_EXTENDED_LENGTH_METERS; - } + private boolean isSecondStageComponentLimitReached() { + return getPositionMeters() >= ElevatorConstants.SECOND_ELEVATOR_COMPONENT_EXTENDED_LENGTH_METERS; + }
123-127: Clamp speed scalar and confirm dynamic-request mutation semantics.Avoid accidental overspeed; Phoenix 6 allows mutating DynamicMotionMagicVoltage fields, but confirm your version. If uncertain, rebuild the request with withVelocity/withAcceleration.
- private void scalePositionRequestSpeed(double speedScalar) { - positionRequest.Velocity = ElevatorConstants.DEFAULT_MAXIMUM_VELOCITY * speedScalar; - positionRequest.Acceleration = ElevatorConstants.DEFAULT_MAXIMUM_ACCELERATION * speedScalar; + private void scalePositionRequestSpeed(double speedScalar) { + final double clamped = Math.max(0.0, Math.min(1.0, speedScalar)); + positionRequest.Velocity = ElevatorConstants.DEFAULT_MAXIMUM_VELOCITY * clamped; + positionRequest.Acceleration = ElevatorConstants.DEFAULT_MAXIMUM_ACCELERATION * clamped; positionRequest.Jerk = positionRequest.Acceleration * 10; }Add (outside this hunk) if you prefer a helper:
edu.wpi.first.math.MathUtil.clamp.
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📒 Files selected for processing (2)
src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java(1 hunks)src/main/java/frc/trigon/robot/subsystems/elevator/Elevator.java(3 hunks)
🚧 Files skipped from review as they are similar to previous changes (1)
- src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
🧰 Additional context used
🧬 Code graph analysis (1)
src/main/java/frc/trigon/robot/subsystems/elevator/Elevator.java (1)
src/main/java/frc/trigon/robot/subsystems/elevator/ElevatorConstants.java (1)
ElevatorConstants(27-188)
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