From faec33984d1e4df573539ab00ebee27818da445d Mon Sep 17 00:00:00 2001
From: Bradley Bickford <bradleybickford@gmail.com>
Date: Tue, 10 Feb 2026 17:19:17 -0500
Subject: [PATCH] Preliminary Hood Subsystem

---
 .../frc/robot/constants/HoodConstants.java    | 43 +++++++++++++
 src/main/java/frc/robot/subsystems/Hood.java  | 60 +++++++++++++++++++
 2 files changed, 103 insertions(+)
 create mode 100644 src/main/java/frc/robot/constants/HoodConstants.java
 create mode 100644 src/main/java/frc/robot/subsystems/Hood.java

diff --git a/src/main/java/frc/robot/constants/HoodConstants.java b/src/main/java/frc/robot/constants/HoodConstants.java
new file mode 100644
index 0000000..161f7e0
--- /dev/null
+++ b/src/main/java/frc/robot/constants/HoodConstants.java
@@ -0,0 +1,43 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+public class HoodConstants {
+    // TODO Real Values
+    public static final int kMotorCANID = 0;
+
+    public static final double kP = 0;
+    public static final double kI = 0;
+    public static final double kD = 0;
+    public static final double kS = 0;
+    public static final double kV = 0;
+    public static final double kA = 0;
+    public static final double kStartupAngle = 0;
+
+    public static final int kCurrentLimit = 15;
+
+    public static final boolean kInverted = false;
+
+    public static final IdleMode kIdleMode = IdleMode.kBrake;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final SparkMaxConfig kConfig = new SparkMaxConfig();
+
+    static {
+        kConfig
+            .idleMode(kIdleMode)
+            .inverted(kInverted)
+            .smartCurrentLimit(kCurrentLimit);
+        kConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .positionWrappingEnabled(true)
+            .positionWrappingInputRange(0, Math.PI * 2)
+            .feedForward
+                .sva(kS, kV, kA);
+    }
+}
diff --git a/src/main/java/frc/robot/subsystems/Hood.java b/src/main/java/frc/robot/subsystems/Hood.java
new file mode 100644
index 0000000..710bad4
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Hood.java
@@ -0,0 +1,60 @@
+package frc.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.HoodConstants;
+
+public class Hood extends SubsystemBase {
+    private SparkMax motor;
+
+    private AbsoluteEncoder encoder;
+
+    private SparkClosedLoopController controller;
+
+    private double currentTargetRadians;
+
+    public Hood() {
+        motor = new SparkMax(HoodConstants.kMotorCANID, MotorType.kBrushless);
+
+        encoder = motor.getAbsoluteEncoder();
+
+        controller = motor.getClosedLoopController();
+
+        currentTargetRadians = HoodConstants.kStartupAngle;
+    }
+
+    @Override
+    public void periodic() {
+        Logger.recordOutput("Hood/CurrentTarget", currentTargetRadians);
+        Logger.recordOutput("Hood/CurrentAngle", encoder.getPosition());
+        Logger.recordOutput("Hood/AtSetpoint", controller.isAtSetpoint());
+    }
+
+    public Command trackToAngle(DoubleSupplier radianAngleSupplier) {
+        return run(() -> {
+            currentTargetRadians = radianAngleSupplier.getAsDouble();
+
+            controller.setSetpoint(currentTargetRadians, ControlType.kPosition);
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            motor.disable();
+        });
+    }
+
+    public double getTargetRadians() {
+        return currentTargetRadians;
+    }
+}