Adds adjustable hood as a subsystem and its elastic properties by NRG948DriverStation · Pull Request #121 · NRG948/NRGRobot2026

NRG948DriverStation · 2026-04-02T02:02:40Z

No description provided.

Co-Authored-By: Space9999 <sboddams@gmail.com>

…8/NRGRobot2026 into Programming/AdjustableHood

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Pull request overview

Adds a new AdjustableHood manipulator subsystem and wires it into the robot’s subsystem container and the “Pass” shooting routine, along with Elastic dashboard configuration for testing.

Changes:

Introduces AdjustableHood subsystem with dashboard widgets/commands and basic angle control loop.
Registers the hood in Subsystems and includes it in the manipulators list.
Updates ShootingCommands.pass() to set the hood to a passing angle and restore to stowed at the end; adds Elastic Testing tab layout.

Reviewed changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 7 comments.

Show a summary per file

File	Description
src/main/java/frc/robot/subsystems/Subsystems.java	Adds hood instance and includes it in the manipulators collection.
src/main/java/frc/robot/subsystems/AdjustableHood.java	New hood subsystem implementation (motor, telemetry, dashboard bindings, control loop).
src/main/java/frc/robot/Constants.java	Adds CAN ID constant for adjustable hood motor.
src/main/java/frc/robot/commands/ShootingCommands.java	Integrates hood behavior into the pass command.
src/main/deploy/elastic-testing.json	Adds Elastic dashboard tab/widgets for Adjustable Hood testing.

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Copilot · 2026-04-03T23:14:35Z

      public static final int SHOOTER_UPPER_RIGHT_ID = 18;
      public static final int SHOOTER_LOWER_LEFT_ID = 17;
      public static final int SHOOTER_UPPER_LEFT_ID = 19;
+      public static final int ADJUSTABLE_HOOD_ID = 99; // TODO: Change ID


ADJUSTABLE_HOOD_ID is set to 99, which is outside the valid FRC CAN device ID range (0–63) used by CTRE devices. This will prevent the TalonFX from being constructed/communicated with; update this to a real, in-range ID (and ensure it doesn’t collide with existing IDs).

Suggested change

public static final int ADJUSTABLE_HOOD_ID = 99; // TODO: Change ID

public static final int ADJUSTABLE_HOOD_ID = 20;

Copilot · 2026-04-03T23:14:36Z

+  private static final MotorParameters MOTOR_PARAMS =
+      RobotPreferences.ROBOT_TYPE.selectOrDefault(
+          Map.of(
+              RobotSelector.CompetitionRobot2026, MotorParameters.KrakenX60,
+              RobotSelector.PracticeRobot2026, MotorParameters.NullMotor),
+          MotorParameters.NullMotor);
+
+  private static final double TOLERANCE = Units.degreesToRadians(2.0);
+  private static final double STALL_VOLTAGE = 0.1; // TODO: Change values
+  private static final double STALL_VELOCITY = Units.degreesToRadians(1);
+
+  private static final double GEAR_RATIO = 25;
+  private static final double RADIANS_PER_ROTATION = (2 * Math.PI) / GEAR_RATIO;
+  private static final double MAX_VELOCITY =
+      (RADIANS_PER_ROTATION * (MOTOR_PARAMS.getFreeSpeedRPM()) / 60.0);
+
+  public static final double STOW_ANGLE = Units.degreesToRadians(75); // TODO: Change angles
+  public static final double PASSING_ANGLE = Units.degreesToRadians(50);
+  public static final double MIN_ANGLE = PASSING_ANGLE; // TODO: Change angles
+  public static final double MAX_ANGLE = STOW_ANGLE;
+
+  public static final double KS = MOTOR_PARAMS.getKs();
+  public static final double KV = (MAX_BATTERY_VOLTAGE - KS) / MAX_VELOCITY;
+  private final SimpleMotorFeedforward feedforwardController;
+
+  private final TalonFX talonFX = new TalonFX(ADJUSTABLE_HOOD_ID);
+  // TODO: Determine direction
+  private final TalonFXAdapter motor =
+      new TalonFXAdapter(
+          "/AdjustableHood/Motor", talonFX, CLOCKWISE_POSITIVE, BRAKE, RADIANS_PER_ROTATION);
+


This subsystem selects MotorParameters.NullMotor for some robot types, but still unconditionally instantiates a TalonFX and TalonFXAdapter. That defeats the purpose of NullMotor selection and can cause CAN timeouts/log spam (or runtime issues) on robots without the hood hardware. Consider constructing the motor via MOTOR_PARAMS.newController(...) and using the MotorController interface (or remove the NullMotor selection if the hood is always present).

Copilot · 2026-04-03T23:14:36Z

+      double feedforward = feedforwardController.calculate(goalAngle);
+      double feedback = pidController.calculate(currentAngle, goalAngle);
+      double voltage = feedforward + feedback;


SimpleMotorFeedforward.calculate(...) expects a velocity setpoint (and optional acceleration), but this code passes goalAngle (a position in radians). This is a units/logic bug and will generate incorrect voltages. If you’re doing position control, either (a) use an appropriate position/arm feedforward model (e.g., ArmFeedforward with kG term for gravity) and calculate based on angle/velocity, or (b) remove the feedforward and rely on PID until a correct feedforward model is implemented.

Suggested change

double feedforward = feedforwardController.calculate(goalAngle);

double feedback = pidController.calculate(currentAngle, goalAngle);

double voltage = feedforward + feedback;

double voltage = pidController.calculate(currentAngle, goalAngle);

Copilot · 2026-04-03T23:14:36Z

+      // Check if the mechanism is stalled
+      if (Math.abs(voltage) > STALL_VOLTAGE && Math.abs(encoder.getVelocity()) < STALL_VELOCITY) {
+        voltage = 0;
+      }
+      motor.setVoltage(voltage);


The stall detection will zero the commanded voltage whenever |encoder velocity| is below the threshold, which is true at the start of any move. Since voltage is then forced to 0, the mechanism may never begin moving. Stall detection usually needs a time component (e.g., only after N ms of low velocity while commanding significant voltage) and/or current-based detection, rather than a single-cycle check.

Copilot · 2026-04-03T23:14:37Z

+  private void resetHoodAngle(double angleRadians) {
+    encoder.setPosition(angleRadians);
+    goalAngle = angleRadians;
+    logCurrentAngle.append(currentAngle);
+    logGoalAngle.append(goalAngle);
+  }


resetHoodAngle() appends currentAngle to the log but never updates currentAngle to match the encoder position it just set, so initial telemetry/logging will be wrong until the next periodic update. Set currentAngle = angleRadians (or read back encoder position) before logging, and consider also appending current/goal angle from updateTelemetry() if these logs are intended to be time-series telemetry.

Copilot · 2026-04-03T23:14:37Z

+  }
+
+  /**
+   * {@return the current intake arm angle in degrees} The angle is relative to horizontal with


These Javadocs appear to be copy/pasted from IntakeArm (e.g., references to “intake arm” and “degress”), which makes the public API misleading. Please update the descriptions/return text to refer to the hood and correct the spelling (“degrees”).

Suggested change

* {@return the current intake arm angle in degrees} The angle is relative to horizontal with

* {@return the current hood angle in degrees} The angle is relative to horizontal with

Copilot · 2026-04-03T23:14:37Z

+    AdjustableHood hood = subsystems.hood;

    return Commands.parallel(
+            Commands.runOnce(hood::setPassingAngle),


Commands.runOnce(hood::setPassingAngle) is created without requiring the hood subsystem, so the scheduler won’t prevent other hood commands from running concurrently and stomping the goal state. Consider using Commands.runOnce(hood::setPassingAngle, hood) (and similarly ensure the stow action in finallyDo can’t conflict) so hood ownership is explicit.

Suggested change

Commands.runOnce(hood::setPassingAngle),

Commands.runOnce(hood::setPassingAngle, hood),

edreed · 2026-04-03T23:18:58Z

I wonder if we should re-use the IntakeArm implementation here; share an implementation like, the intake and hopper rollers do now?

NRG948DriverStation and others added 3 commits April 1, 2026 19:02

Adds adjustable hood as a subsystem and its elastic properties

5382deb

Co-Authored-By: Space9999 <sboddams@gmail.com>

Adds adjustable hood as a subsystem and its elastic properties

76380ca

Co-Authored-By: Space9999 <sboddams@gmail.com>

Merge branch 'Programming/AdjustableHood' of https://github.com/NRG94…

6cf5087

…8/NRGRobot2026 into Programming/AdjustableHood

edreed requested a review from Copilot April 3, 2026 23:11

Copilot started reviewing on behalf of edreed April 3, 2026 23:12 View session

Copilot AI reviewed Apr 3, 2026

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Adds adjustable hood as a subsystem and its elastic properties - #121

Adds adjustable hood as a subsystem and its elastic properties#121
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	public static final int ADJUSTABLE_HOOD_ID = 99; // TODO: Change ID
	public static final int ADJUSTABLE_HOOD_ID = 20;

	* {@return the current intake arm angle in degrees} The angle is relative to horizontal with
	* {@return the current hood angle in degrees} The angle is relative to horizontal with

	Commands.runOnce(hood::setPassingAngle),
	Commands.runOnce(hood::setPassingAngle, hood),

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edreed commented Apr 3, 2026

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