Subsystem Wrapper #54

Strflightmight09 · 2025-05-10T19:44:14Z

No description provided.

src/main/java/org/trigon/hardware/subsystems/arm/ArmSubsystem.java

src/main/java/org/trigon/hardware/subsystems/elevator/ElevatorConfiguration.java

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorConfiguration.java

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java

Strflightmight09

Make sure you also test it out to make sure it all works

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorConfiguration.java

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java

… the config

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java

Strflightmight09 · 2025-07-28T20:38:41Z

Approved by me as long as you've tested everything
In the meantime also review the rest of the PR and @Nummun14 and @noamgreen12 please review everything

src/main/java/org/trigon/hardware/subsystems/arm/ArmConfiguration.java

src/main/java/org/trigon/hardware/subsystems/elevator/ElevatorSubsystem.java

Trigon5990

Needs a ton of jdocs. Make motor subsystem more abstract for this to work with it

Strflightmight09

A couple things:

You forgot to add in javadocs for the actual subsystems themselves
Each of the javadocs for the configs should be a full sentence, and should start with "the" in most cases and shouldn't be in point form

Strflightmight09 · 2025-08-07T17:56:11Z

src/main/java/org/trigon/hardware/subsystems/arm/ArmConfiguration.java

+    /**
+     * Maximum velocity of the motor.
+     */
+    public double maximumVelocity = 1;
+
+    /**
+     * Maximum acceleration of the motor.
+     */
+    public double maximumAcceleration = 1;
+
+    /**
+     * Maximum jerk of the motor.
+     */
+    public double maximumJerk = 1;


Strflightmight09 · 2025-08-07T17:56:42Z

src/main/java/org/trigon/hardware/subsystems/arm/ArmConfiguration.java

+    /**
+     * Visual offset for display in Mechanism2D.
+     */
+    public double visualizationOffset = 1;


This needs more than just a rewording, this needs an explanation

Strflightmight09 · 2025-08-07T17:57:21Z

src/main/java/org/trigon/hardware/subsystems/arm/ArmConfiguration.java

+    /**
+     * Acceptable angular tolerance for reaching the target.
+     */
+    public Rotation2d angleTolerance = Rotation2d.kZero;


for reaching the target isn't precise enough

Strflightmight09 · 2025-08-07T17:58:50Z

src/main/java/org/trigon/hardware/subsystems/arm/ArmConfiguration.java

+
+    public boolean shouldSimulateGravity = true;
+
+    public Color mechanismColor = Color.kBlue;


Suggested change

public Color mechanismColor = Color.kBlue;

public Color mechanism2DColor = Color.kBlue;

Rn it sounds like the physical colour of the mechanism

Strflightmight09 · 2025-08-07T17:59:15Z

src/main/java/org/trigon/hardware/subsystems/arm/ArmConfiguration.java

+    public Color mechanismColor = Color.kBlue;
+
+    /**
+     * The type and number of motors used in the simulation.


Suggested change

* The type and number of motors used in the simulation.

* The type and number of motors used for the simulation.

Strflightmight09 · 2025-08-07T17:59:58Z

src/main/java/org/trigon/hardware/subsystems/arm/ArmSubsystem.java

+    /**
+     * An interface for an arm state.
+     * getTargetAngle represents the target angle of the state.
+     * getSpeedScalar represents the speed scalar of the state.
+     */
+    public interface ArmState {


You still don't explain what it's for

Strflightmight09 · 2025-08-07T18:00:39Z

src/main/java/org/trigon/hardware/subsystems/elevator/ElevatorConfiguration.java

+    /**
+     * Acceptable position error in meters.
+     */
+    public double positionToleranceMeters = 1;


This isn't consistent with how you described the arm one

Strflightmight09 · 2025-08-07T18:03:00Z

src/main/java/org/trigon/hardware/subsystems/elevator/ElevatorConfiguration.java

+
+    public double gearRatio = 1;
+    /**
+     * Mass of the Elevator in kg.


Kilograms

Strflightmight09 · 2025-08-07T18:03:46Z

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorConfiguration.java

+     */
+    maximumDisplayableVelocity = 1,
+    /**
+     * The acceptable tolerance between the target velocity and current velocity.


Strflightmight09 · 2025-08-07T18:04:04Z

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorConfiguration.java

+    /**
+     * should the motor control mode be Voltage as opposed to Velocity.
+     */
+    public boolean shouldUseVoltageControl = false;


Explain what each one is

Strflightmight09 and others added 25 commits May 10, 2025 22:43

Only "works" for talonfx but I need to commit to test

2b55554

Better prob

3b0f64d

Oops

0393268

Trying smth

b99cc94

Oops

c4c8b1a

Testing

e8db114

Remove testing (that part works)

e0b76dd

More testing

ef1488b

Omg I'm so stupid

75c3b8b

nvm

49a3515

Wrong, but not _the_ problem

88e48ef

Test

b416895

I should prob do this

4cf4d18

SImplify

c43315a

_

68ecc92

Oops

a80bf39

Better logging

efaf9fc

Fix

a40296f

Fix

723cd44

Added arm even tho it doesn't work

948089f

Merge branch 'main' into subsystem-wrapper

395f300

@ShmayaR - Have fun :)

e71735a

fixed up the simpleMotorSubsystem (still missing simulation)

0d053c8

added logging stuff

612c1a7

added option for setting target state with velocity

17c777e

Nummun14 requested changes Jul 8, 2025

View reviewed changes

Strflightmight09 added 2 commits July 15, 2025 10:15

@noamgreen12 CODEEEEEEEEEEEEEEEEEEEE

9be9ce1

Added visualization offset @noamgreen12...

b9f1289

Strflightmight09 commented Jul 20, 2025

View reviewed changes

Update SimpleMotorSubsystem.java

2340eac

ShmayaR added 2 commits July 24, 2025 22:08

Update SimpleMotorSubsystem.java

41fb35b

added position (in degrees) to the update log

1eab762

ShmayaR requested a review from Nummun14 July 24, 2025 19:21

Strflightmight09 commented Jul 24, 2025

View reviewed changes

ShmayaR added 3 commits July 24, 2025 23:44

update name

a4f05cc

put position on top

8977f6d

updated at target state to work with voltage control mode

630e5b4

Strflightmight09 commented Jul 24, 2025

View reviewed changes

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java Outdated Show resolved Hide resolved

ShmayaR added 3 commits July 27, 2025 15:54

added tolerances to at target state function

91a72ee

contol mode is now set when subsystem is created

abc0f01

Update SimpleMotorSubsystem.java

62c0da4

Strflightmight09 commented Jul 27, 2025

View reviewed changes

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorConfiguration.java Outdated Show resolved Hide resolved

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java Outdated Show resolved Hide resolved

ShmayaR added 2 commits July 27, 2025 16:28

removed voltage tolerance and put things that belong in the config in…

0316909

… the config

at target state no longer checks the voltage but just if it has one

c23b57d

Strflightmight09 commented Jul 27, 2025

View reviewed changes

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java Outdated Show resolved Hide resolved

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java Outdated Show resolved Hide resolved

ShmayaR added 3 commits July 28, 2025 15:55

update name

f03aecc

Update SimpleMotorSubsystem.java

c767967

blahdwewed

aef47a2

Strflightmight09 commented Jul 28, 2025

View reviewed changes

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java Outdated Show resolved Hide resolved

fixed if statemennt

49c96d7

Strflightmight09 commented Jul 28, 2025

View reviewed changes

src/main/java/org/trigon/hardware/subsystems/flywheel/SimpleMotorSubsystem.java Outdated Show resolved Hide resolved

removed new line

f420000

Nummun14 requested changes Jul 29, 2025

View reviewed changes

Trigon5990 suggested changes Aug 7, 2025

View reviewed changes

ShmayaR added 4 commits August 7, 2025 15:19

added java docs to flywheel

081cabd

added docs for the rest of the configs

395e402

changed interface to only have 1 thing difh

1e2ae32

added java docs for the interfaces

8b89049

Strflightmight09 commented Aug 7, 2025

View reviewed changes


		public boolean shouldSimulateGravity = true;

		public Color mechanismColor = Color.kBlue;

	public Color mechanismColor = Color.kBlue;
	public Color mechanism2DColor = Color.kBlue;

	* The type and number of motors used in the simulation.
	* The type and number of motors used for the simulation.

Subsystem Wrapper #54

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Subsystem Wrapper #54

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Strflightmight09 commented May 10, 2025

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Strflightmight09 commented Jul 28, 2025

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