Changes from build session 3/3/26

src/main/deploy/pathplanner/autos/Outpost.auto

@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Start to outpost"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Outpost to Ranged Shot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Auto Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/My Bumpers Arent All The Way Over.path

@@ -0,0 +1,151 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.572076308784383,
+        "y": 3.3951907719609573
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.1112866015971603,
+        "y": 2.6628305235137533
+      },
+      "prevControl": {
+        "x": 2.8612866015971603,
+        "y": 2.6628305235137533
+      },
+      "nextControl": {
+        "x": 3.3612866015971603,
+        "y": 2.6628305235137533
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.839529724933453,
+        "y": 2.357009760425909
+      },
+      "prevControl": {
+        "x": 5.055196983507387,
+        "y": 2.7986728575396165
+      },
+      "nextControl": {
+        "x": 6.668464951197871,
+        "y": 1.890230700976042
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.612129547471162,
+        "y": 0.8279059449866895
+      },
+      "prevControl": {
+        "x": 6.3623142538133335,
+        "y": 0.8182976644613882
+      },
+      "nextControl": {
+        "x": 7.030621118012423,
+        "y": 0.844001774622892
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.189520851818989,
+        "y": 0.8279059449866895
+      },
+      "prevControl": {
+        "x": 8.08578683847011,
+        "y": 0.49077040160283747
+      },
+      "nextControl": {
+        "x": 8.318287488908608,
+        "y": 1.246397515527949
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.189520851818989,
+        "y": 7.111241666666667
+      },
+      "prevControl": {
+        "x": 8.36001268105017,
+        "y": 7.294087328812116
+      },
+      "nextControl": {
+        "x": 6.244366666666667,
+        "y": 5.025141666666666
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.518108333333333,
+        "y": 5.592016666666666
+      },
+      "prevControl": {
+        "x": 3.205916666666667,
+        "y": 5.644925000000001
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 45.0
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 45.0
+    },
+    {
+      "waypointRelativePos": 3,
+      "rotationDegrees": -135.0
+    },
+    {
+      "waypointRelativePos": 5,
+      "rotationDegrees": -135.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -133.87669728592465
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Outpost to Ranged Shot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7089624329216013,
+        "y": 0.668228980317108
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1043470483005366,
+        "y": 0.7169051878354196
+      },
+      "isLocked": false,
+      "linkedName": "Outpost"
+    },
+    {
+      "anchor": {
+        "x": 2.3639534883720925,
+        "y": 2.9722361359570666
+      },
+      "prevControl": {
+        "x": 2.234150268336314,
+        "y": 2.5666010733452596
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 24.304549265936604
+  },
+  "reversed": false,
+  "folder": "Right Outpost",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Start to outpost.path

@@ -0,0 +1,66 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6619856887266913,
+        "y": 2.2583184257605784
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4937567084046877,
+        "y": 1.3172450805011864
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.7089624329216013,
+        "y": 0.668228980317108
+      },
+      "prevControl": {
+        "x": 1.6987119856944102,
+        "y": 1.0414132379199703
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Outpost"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7234468937875753,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake Start",
+      "waypointRelativePos": 0.4500000000000002,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Right Outpost",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -1,32 +1,36 @@
 {
-  "robotWidth": 0.9,
+  "robotWidth": 0.921,
-  "robotLength": 0.9,
+  "robotLength": 0.787,
   "holonomicMode": true,
-  "pathFolders": [],
+  "pathFolders": [
+    "Right Outpost"
+  ],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 74.088,
+  "robotMass": 64.864,
-  "robotMOI": 6.883,
+  "robotMOI": 37.809,
   "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.048,
+  "driveWheelRadius": 0.051,
-  "driveGearing": 5.143,
+  "driveGearing": 6.122,
-  "maxDriveSpeed": 5.45,
+  "maxDriveSpeed": 4.66,
   "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 60.0,
+  "driveCurrentLimit": 65.0,
   "wheelCOF": 1.2,
-  "flModuleX": 0.273,
+  "flModuleX": 0.238,
-  "flModuleY": 0.273,
+  "flModuleY": 0.3015,
-  "frModuleX": 0.273,
+  "frModuleX": 0.238,
-  "frModuleY": -0.273,
+  "frModuleY": -0.3015,
-  "blModuleX": -0.273,
+  "blModuleX": -0.238,
-  "blModuleY": 0.273,
+  "blModuleY": 0.3015,
-  "brModuleX": -0.273,
+  "brModuleX": -0.238,
-  "brModuleY": -0.273,
+  "brModuleY": -0.3015,
   "bumperOffsetX": 0.0,
   "bumperOffsetY": 0.0,
-  "robotFeatures": []
+  "robotFeatures": [
+    "{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.55,\"y\":0.0},\"size\":{\"width\":0.921,\"length\":0.305},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}"
+  ]
 }

src/main/java/frc/robot/RobotContainer.java

@@ -5,6 +5,15 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+import java.util.OptionalDouble;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+
+import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -15,17 +24,35 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.constants.AutoConstants;
+import frc.robot.constants.CompetitionConstants;
+import frc.robot.constants.HoodConstants;
 import frc.robot.constants.OIConstants;
+import frc.robot.constants.ShooterConstants;
+import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
+import frc.robot.constants.ShooterConstants.ShooterSpeeds;
+import frc.robot.subsystems.Climber;
 import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.Hood;
+import frc.robot.subsystems.IntakePivot;
+import frc.robot.subsystems.IntakeRoller;
 import frc.robot.subsystems.PhotonVision;
+import frc.robot.subsystems.Shooter;
+import frc.robot.subsystems.Spindexer;
 import frc.robot.utilities.Elastic;
 import frc.robot.utilities.Utilities;
 
 public class RobotContainer {
     private PhotonVision vision;
     private Drivetrain drivetrain;
+    private Hood hood;
+    private Shooter shooter;
+    private IntakePivot intakePivot;
+    private IntakeRoller intakeRoller;
+    private Spindexer spindexer;
+    //private Climber climber;
 
     private CommandXboxController driver;
+    private CommandXboxController secondary;
 
     private SendableChooser<Command> autoChooser;
 
@@ -33,16 +60,180 @@ public class RobotContainer {
 
     public RobotContainer() {
         vision = new PhotonVision();
-    drivetrain = new Drivetrain();
+        drivetrain = new Drivetrain(null);
+        hood = new Hood();
+        shooter = new Shooter();
+        intakePivot = new IntakePivot();
+        intakeRoller = new IntakeRoller();
+        spindexer = new Spindexer();
+        //climber = new Climber();
+
         
         vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
+        vision.addPoseEstimateConsumer((vp) -> {
+            Logger.recordOutput(
+                "Vision/" + vp.cameraName() + "/Pose", 
+                vp.visualPose()
+            );
+        });
 
         driver = new CommandXboxController(OIConstants.kDriverControllerPort);
+        secondary = new CommandXboxController(OIConstants.kOperatorControllerPort);
 
         shiftTimer = new Timer();
         shiftTimer.reset();
 
-    configureBindings();
+        //configureBindings();
+        testConfigureBindings();
+        configureShiftDisplay();
+
+        if(AutoConstants.kAutoConfigOk) {
+            autoChooser = AutoBuilder.buildAutoChooser();
+            configureNamedCommands();
+        }
+    }
+
+    /**
+     * Before you @ mention me for terrible match controls, these are <i>TEST BINDINGS</i>
+     * 
+     * The are configured in such a way to make testing of multiple systems possible without
+     * having to constantly change bindings.
+     * 
+     * Most of the configurations here won't make sense for actual competition play. See
+     * {@link #configureBindings()} for actual competition play
+     * 
+     * The intent of each binding is outlined by comments above each binding. 
+     */
+    private void testConfigureBindings() {
+        // This should just work, if it doesn't it's likely modules aren't assigned the right IDs
+        // after the electronics rebuild. For testing normal operation nothing about the Drivetrain
+        // class should need to change
+        //drivetrain.setDefaultCommand(drivetrain.drive(() -> 0, () -> 0, () -> 0, () -> true));
+        drivetrain.setDefaultCommand(
+            drivetrain.drive(
+                driver::getLeftY,
+                driver::getLeftX, 
+                driver::getRightX, 
+                () -> true
+            )
+        );
+
+        driver.y().whileTrue(drivetrain.zeroHeading());
+/* 
+        // This needs to be tested after a prolonged amount of driving around <i>aggressively</i>.
+        // Do things like going over the bump repeatedly, spin around a bunch, etc. 
+        // If this works well over time, then this is likely all we need
+        driver.a().whileTrue(
+            drivetrain.lockRotationToHub(
+                driver::getLeftY, 
+                driver::getLeftX, 
+                false
+            ) 
+        );
+
+        // This can be tested as an alternative to the above, it's less dynamic, but is a simpler
+        // alternative. 
+        driver.b().whileTrue(
+            drivetrain.lockToYaw(
+                () -> {
+                    OptionalDouble maybeYaw = vision.getBestYawForTag(Utilities.getHubCenterAprilTagID());
+
+                    return maybeYaw.isEmpty() ? 0 : maybeYaw.getAsDouble();
+                }, 
+                driver::getLeftY, 
+                driver::getLeftX
+            )
+        );*/
+
+        // Stop everything by default other than the drivetrain
+        shooter.setDefaultCommand(shooter.stop());
+        intakePivot.setDefaultCommand(intakePivot.stop());
+        intakeRoller.setDefaultCommand(intakeRoller.stop());
+        hood.setDefaultCommand(hood.stop());
+        spindexer.setDefaultCommand(spindexer.stop());
+        //climber.setDefaultCommand(climber.stop());
+
+        // While holding POV up of the driver controller, the climber
+        // should move such that its motor moves the climber down with the left
+        // driver controller trigger axis, and up with the right driver controller
+        // trigger axis.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted
+        // from the constants file for the subsystem having the problem. 
+        //driver.povUp().whileTrue(climber.manualSpeed(() -> {
+        //    return driver.getLeftTriggerAxis() * -1 + driver.getRightTriggerAxis();
+        //}));
+
+        // While holding the right bumper of the driver controller, the intake rollers
+        // and the spindexer and feeder should move such that all motors are moving in such a way
+        // that it would draw balls from the floor, through the spindexer, and into the
+        // feeder. 
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
+        // constants file for the subsystem having the problem
+        driver.rightBumper().whileTrue(
+            spindexer.spinToShooter()  
+        );
+
+        // While holding the left bumper of the driver controller, the intake rollers
+        // and the spindexer and feeder should move such that all motors are moving in such a way
+        // that it would try to eject balls through the intake.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
+        // constants file for the subsystem having the problem
+        driver.leftBumper().whileTrue(
+            intakeRoller.runIn()
+            //intakeRoller.runOut().alongWith(spindexer.spinToIntake())
+        );
+
+        // While holding D-Pad up on the secondary controller, the shooter should spin
+        // while holding down the secondary controllers right trigger some amount.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
+        // constants file for the subsystem having the problem
+        secondary.povUp().whileTrue(
+            shooter.manualSpeed(secondary::getRightTriggerAxis)
+        );
+
+        // While holding D-Pad down on the seconadry controller, the intakePivot should move
+        // such that left trigger on the secondary controller moves the pivot down, and 
+        // right trigger on the secondary controller moves the pivot up.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
+        // constants file for the subsystem having the problem
+        secondary.povDown().whileTrue(
+            intakePivot.manualSpeed(() -> {
+                return secondary.getLeftTriggerAxis() * -1 + secondary.getRightTriggerAxis();
+            })
+        );
+
+        // While holding D-Pad left on the secondary controller, the hood should move
+        // such that the left trigger on the secondary controller moves the hood down, and
+        // right trigger on the secondary controller moves the hood up.
+        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
+        // constants file for the subsystem having the problem
+        secondary.povLeft().whileTrue(
+            hood.manualSpeed(() -> {
+                return secondary.getLeftTriggerAxis() * -1 + secondary.getRightTriggerAxis();
+            })
+        );
+
+        // STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP
+        // Don't proceed unless you've verified by hand or with the above bindings, that sensing
+        // systems are providing correct values in the correct direction of rotation. 
+    
+
+        // Useful for testing PID and FF responses of the shooter
+        // You need to have graphs up of the logged data to make sure the response is correct
+        secondary.a().whileTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
+        secondary.b().whileTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
+
+        // Useful for testing PID and FF responses of the intake pivot
+        // You need to have graphs up of the logged data to make sure the response is correct
+        secondary.x().whileTrue(intakePivot.maintainPosition(IntakePivotPosition.kDown));
+        secondary.y().whileTrue(intakePivot.maintainPosition(IntakePivotPosition.kUp));
+
+        secondary.povUp().whileTrue(hood.trackToAngle(() -> Math.toRadians(40.0)));
+        secondary.povDown().whileTrue(hood.trackToAngle(() -> Math.toRadians(0.0)));
+        
+
+        // TODO Some means of testing hood PIDF
+        // TODO Some means of testing climber PIDF
     }
   
     private void configureBindings() {
@@ -51,23 +242,72 @@ public class RobotContainer {
                 driver::getLeftY,
                 driver::getLeftX, 
                 driver::getRightX, 
-        () -> false
+                () -> true
             )
         );
 
-    driver.start().and(driver.x()).whileTrue(drivetrain.runFrontLeft(1, 0));
+        driver.a().whileTrue(
-    driver.start().and(driver.y()).whileTrue(drivetrain.runFrontRight(1, 0));
+            drivetrain.lockRotationToHub(
-    driver.start().and(driver.a()).whileTrue(drivetrain.runRearLeft(1, 0));
+                driver::getLeftY, 
-    driver.start().and(driver.b()).whileTrue(drivetrain.runRearRight(1, 0));
+                driver::getLeftX, 
-    driver.start().negate().and(driver.x()).whileTrue(drivetrain.runFrontLeft(0, 45));
+                false
-    driver.start().negate().and(driver.y()).whileTrue(drivetrain.runFrontRight(0, 45));
+            ) 
-    driver.start().negate().and(driver.a()).whileTrue(drivetrain.runRearLeft(0, 45));
+        );
-    driver.start().negate().and(driver.b()).whileTrue(drivetrain.runRearRight(0, 45));
-    driver.rightBumper().whileTrue(drivetrain.setX());
 
-    //drivetrain.setDefaultCommand(drivetrain.disableOutputs());
+        /*
+        driver.b().whileTrue(
+            drivetrain.lockToYaw(
+                () -> {
+                    OptionalDouble maybeYaw = vision.getBestYawForTag(Utilities.getHubCenterAprilTagID());
 
-    configureShiftDisplay();
+                    return maybeYaw.isEmpty() ? 0 : maybeYaw.getAsDouble();
+                }, 
+                driver::getLeftY, 
+                driver::getLeftX
+            )
+        );*/
+
+        shooter.setDefaultCommand(
+            shooter.maintainSpeed(ShooterSpeeds.kHubSpeed)
+        );
+
+        hood.setDefaultCommand(hood.trackToAngle(() -> {
+            Pose2d drivetrainPose = drivetrain.getPose();
+            Pose2d hubPose = Utilities.getHubPose();
+
+            double distance = drivetrainPose.getTranslation()
+                .plus(CompetitionConstants.kRobotToShooter.getTranslation().toTranslation2d())
+                .getDistance(hubPose.getTranslation());
+                
+            if(HoodConstants.kUseInterpolatorForAngle) {
+                return HoodConstants.kDistanceToAngle.get(distance);
+            } else {
+                // TODO The average actual speeds isn't <i>really</i> the exit velocity of the ball
+                // on a hooded shooter, based on documentation, it's more like 30-50% depending on
+                // hood material, surface friction, etc.
+                return Utilities.shotAngle(
+                    shooter.getAverageActualSpeeds(), 
+                    distance, 
+                    CompetitionConstants.kHubGoalHeightMeters - ShooterConstants.kShooterHeightMeters, 
+                    false
+                );
+            }
+        }));
+    }
+
+    private void configureNamedCommands() {
+        NamedCommands.registerCommand(
+            "Drivetrain Set X", 
+            drivetrain.setX()
+        );
+
+        NamedCommands.registerCommand(
+            "Drivetrain Face Hub", 
+            drivetrain.rotateToPose(
+                Utilities.getHubPose(),
+                false // TODO Should this be true by default?
+            )
+        );
     }
 
     public Command getAutonomousCommand() {
@@ -78,6 +318,31 @@ public class RobotContainer {
         }
     }
 
+    /**
+     * The "shift display" relies on Elastic's ability to show 1 or more colors
+     * in a box on the dashboard. 
+     * 
+     * Using the RobotModeTriggers and a Timer based on the FPGA, a reasonably
+     * accurate "shift display" can be created to indicate whose hub is active
+     * and when. 
+     * 
+     * During autonomous, and the first 10 seconds of teleop, the shift display
+     * will display a gradient of both red and blue, indicating the fact that 
+     * both hubs are active.
+     * 
+     * For the rest of teleop, with the exception of the endgame, the display
+     * will present either the color red, or the color blue, based on the returned
+     * value of Utilities.whoHasFirstShift(). Because shifts change on a known cycle,
+     * we can use the known state of who has first shift, to determine the remaining three shifts
+     * that come after.
+     * 
+     * For the endgame portion of teleop, the shift display returns to the gradient
+     * of both red and blue. 
+     * 
+     * Because this relies on the RobotModeTriggers and an FPGA timer, it should be 
+     * <i>reasonably</i> accurate, it's unlikely to be perfect relative to field time
+     * but it will be very very very (likely unnoticably) close. 
+     */
     private void configureShiftDisplay() {
         SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
         

src/main/java/frc/robot/constants/AutoConstants.java

@@ -10,10 +10,11 @@ import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import com.pathplanner.lib.path.PathConstraints;
 
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.math.util.Units;
 
 // TODO This is all hold over from 2025, does any of it need to change?
 public class AutoConstants {
-    public static final double kMaxSpeedMetersPerSecond = 5;
+    public static final double kMaxSpeedMetersPerSecond = 4;
     public static final double kMaxAccelerationMetersPerSecondSquared = 4;
     public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
     public static final double kMaxAngularAccelerationRadiansPerSecondSquared = Math.PI;
@@ -23,6 +24,8 @@ public class AutoConstants {
     public static final double kPXYController = 3.5;
     public static final double kPThetaController = 5;
 
+    public static final double kYawPIDTolerance = Units.degreesToRadians(2);
+
     public static final double kAlignPXYController = 2;
     public static final double kAlignPThetaController = 5;
 

src/main/java/frc/robot/constants/ClimberConstants.java

@@ -0,0 +1,61 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+public class ClimberConstants {
+    // TODO Real values
+    public enum ClimberPositions {
+        kStow(0),
+        kClimbOffGround(0),
+        kUp(0);
+
+        private double positionMeters;
+
+        private ClimberPositions(double positionMeters) {
+            this.positionMeters = positionMeters;
+        }
+
+        public double getPositionMeters() {
+            return positionMeters;
+        }
+    }
+
+    public static final int kMotorCANID = 0;
+
+    public static final double kConversionFactor = 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 boolean kMotorInverted = false;
+
+    public static final int kCurrentLimit = 40;
+
+    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 kMotorConfig = new SparkMaxConfig();
+
+    static {
+        kMotorConfig
+            .inverted(kMotorInverted)
+            .smartCurrentLimit(kCurrentLimit)
+            .idleMode(kIdleMode);
+        kMotorConfig.encoder
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        kMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .feedForward
+                .sva(kS, kV, kA);
+    }
+}

src/main/java/frc/robot/constants/CompetitionConstants.java

@@ -2,6 +2,10 @@ package frc.robot.constants;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.util.Units;
 
 public class CompetitionConstants {
     // THIS SHOULD BE FALSE DURING COMPETITION PLAY
@@ -10,4 +14,29 @@ public class CompetitionConstants {
     public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(
         AprilTagFields.kDefaultField
     );
+
+    public static final double kHubGoalHeightMeters = Units.inchesToMeters(72);
+
+    // TODO Real Values
+    public static final Transform3d kRobotToShooter = new Transform3d();
+
+    public static final Pose2d kBlueHubLocation = new Pose2d(
+        Units.inchesToMeters(182.11), 
+        Units.inchesToMeters(158.84), 
+        Rotation2d.fromDegrees(0)
+    );
+
+    // TODO The origination value produced by the April Tag Field Layout object may
+    // influence what this value should actually be. See AprilTagFieldLayout.getOrigin
+    // For now, the X axis position (forward/backward) is calculated as though the blue
+    // alliance wall right hand side is the originiation point, so, the distance from
+    // the blue alliance wall, to the blue alliance hub center point, plus
+    // the distance between the center of the blue alliance hub and the center of
+    // the red alliance hub
+    public static final Pose2d kRedHubLocation = new Pose2d(
+        Units.inchesToMeters(182.11 + 143.5 * 2),
+        Units.inchesToMeters(158.84),
+        Rotation2d.fromDegrees(0)
+    );
+
 }

src/main/java/frc/robot/constants/DrivetrainConstants.java

@@ -1,12 +1,15 @@
 package frc.robot.constants;
 
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
 
 public class DrivetrainConstants {
-    // TODO Hold over from 2025, adjust?
+    public static final double kMaxSpeedMetersPerSecond = 4.663;
-    public static final double kMaxSpeedMetersPerSecond = 4.125;
     public static final double kMaxAngularSpeed = 2 * Math.PI;
 
     public static final double kTrackWidth = Units.inchesToMeters(23.75);
@@ -17,15 +20,15 @@ public class DrivetrainConstants {
     public static final double kRearLeftMagEncoderOffset = 3.761;
     public static final double kRearRightMagEncoderOffset = 2.573;
 
-    public static final int kFrontLeftDrivingCANID = 0;
+    public static final int kFrontLeftDrivingCANID = 4;
     public static final int kFrontRightDrivingCANID = 3;
     public static final int kRearLeftDrivingCANID = 1;
     public static final int kRearRightDrivingCANID = 2;
 
-    public static final int kFrontLeftTurningCANID = 8;
+    public static final int kFrontLeftTurningCANID = 7; // 8
-    public static final int kFrontRightTurningCANID = 9;
+    public static final int kFrontRightTurningCANID = 21; //9
-    public static final int kRearLeftTurningCANID = 7;
+    public static final int kRearLeftTurningCANID = 6; //7
-    public static final int kRearRightTurningCANID = 6;
+    public static final int kRearRightTurningCANID = 8; //6
 
     public static final int kFrontLeftAnalogInPort = 3;
     public static final int kFrontRightAnalogInPort = 2;
@@ -39,6 +42,11 @@ public class DrivetrainConstants {
     public static final double kXTranslationP = .5;
     public static final double kYTranslationP = .5;
 
+    // TODO How much do we trust gyro and encoders vs vision estimates.
+    // NOTE: Bigger values indicate LESS trust. Generally all three values for a given matrix should be the same
+    public static final Matrix<N3, N1> kSensorFusionOdometryStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
+    public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
+
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM
     public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
         new Translation2d(kWheelBase / 2, kTrackWidth / 2),

src/main/java/frc/robot/constants/HoodConstants.java

@@ -1,27 +1,51 @@
 package frc.robot.constants;
 
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.FileReader;
+import java.io.IOException;
+import java.nio.file.Path;
+
+import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
+import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
+import edu.wpi.first.wpilibj.Filesystem;
+
 public class HoodConstants {
     // TODO Real Values
-    public static final int kMotorCANID = 0;
+    public static final int kMotorCANID = 12;
 
-    public static final double kP = 0;
+    public static final double kConversionFactor = (1.0/3.0)*(8.0/147.0)*2*Math.PI;
+
+    public static final double kP = 1.75;
     public static final double kI = 0;
     public static final double kD = 0;
-    public static final double kS = 0;
+    public static final double kS = 0.435;
     public static final double kV = 0;
     public static final double kA = 0;
-    public static final double kStartupAngle = 0;
+    public static final double kStartupAngle = 0.0;
+    public static final double kMaxManualSpeedMultiplier = 0.1;
+    public static final double kTolerance = Math.toRadians(0.5);
+
+    public static final double kAmpsToTriggerPositionReset = 10;
+
+    // TODO This is just barely longer than the default frame time for output current information
+    // Should this be longer?
+    public static final double kTimeAboveThresholdToReset = .25;
 
     public static final int kCurrentLimit = 15;
 
-    public static final boolean kInverted = false;
+    public static final boolean kInverted = true;
+    public static final boolean kUseInterpolatorForAngle = false;
 
     public static final IdleMode kIdleMode = IdleMode.kBrake;
 
+    // TODO This needs to be filled in from some source
+    public static final InterpolatingDoubleTreeMap kDistanceToAngle = new InterpolatingDoubleTreeMap();
+
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
 
     public static final SparkMaxConfig kConfig = new SparkMaxConfig();
@@ -31,13 +55,38 @@ public class HoodConstants {
             .idleMode(kIdleMode)
             .inverted(kInverted)
             .smartCurrentLimit(kCurrentLimit);
+        kConfig.encoder
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
         kConfig.closedLoop
-            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
             .pid(kP, kI, kD)
             .outputRange(-1, 1)
-            .positionWrappingEnabled(true)
+            .allowedClosedLoopError(kTolerance, ClosedLoopSlot.kSlot0)
-            .positionWrappingInputRange(0, Math.PI * 2)
             .feedForward
                 .sva(kS, kV, kA);
+
+
+        File interpolatorFile = Path.of(
+            Filesystem.getDeployDirectory().getAbsolutePath().toString(), 
+            "interpolatorData.csv"
+        ).toFile();
+
+        if(interpolatorFile.exists()) {
+            try (BufferedReader reader = new BufferedReader(new FileReader(interpolatorFile))) {
+                reader.lines().forEach((s) -> {
+                    if(s.trim() != "") { //Empty or whitespace line protection
+                        String[] lineSplit = s.split(",");
+
+                        kDistanceToAngle.put(
+                            Double.valueOf(lineSplit[0].replace("\"", "")), 
+                            Double.valueOf(lineSplit[1].replace("\"", ""))
+                        );
+                    }
+                });
+            } catch (IOException e) {
+                // This condition is never reached because of the if exists line above
+            }
+        }
     }
 }

src/main/java/frc/robot/constants/IntakePivotConstants.java

@@ -7,8 +7,8 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 public class IntakePivotConstants {
     // TODO Real values
     public enum IntakePivotPosition {
-        kUp(0),
+        kUp(Math.toRadians(116.0)),
-        kDown(0);
+        kDown(Math.toRadians(0.0));
         private double positionRadians;
 
         private IntakePivotPosition(double positionRadians) {
@@ -20,23 +20,27 @@ public class IntakePivotConstants {
         }
     }
 
-    public static final int kLeftMotorCANID = 0;
+    public static final int kLeftMotorCANID = 16;
-    public static final int kRightMotorCANID = 1;
+    public static final int kRightMotorCANID = 9;
 
-    public static final double kConversionFactor = 0;
+    public static final double kConversionFactor = 60.0/11.0*60.0/18.0*38.0/16.0;
+
+    // Ultra conservative multiplier to prevent 1/8" lexan destruction, modify at your own peril
+    public static final double kMaxManualSpeedMultiplier = .3;
 
     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 kV = 5.26;
-    public static final double kA = 0;
+    public static final double kA = 0.05;
+    public static final double kG = 0.25;
 
     public static final boolean kInvertMotors = false;
 
     public static final int kCurrentLimit = 30;
 
-    public static final IdleMode kIdleMode = IdleMode.kBrake;
+    public static final IdleMode kIdleMode = IdleMode.kCoast;
 
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
     
@@ -48,17 +52,17 @@ public class IntakePivotConstants {
             .idleMode(kIdleMode)
             .smartCurrentLimit(kCurrentLimit)
             .inverted(kInvertMotors);
-        KLeftMotorConfig.absoluteEncoder
+        KLeftMotorConfig.encoder
             .positionConversionFactor(kConversionFactor)
             .velocityConversionFactor(kConversionFactor / 60);
         KLeftMotorConfig.closedLoop
-            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
             .pid(kP, kI, kD)
             .outputRange(-1, 1)
             .positionWrappingEnabled(true)
             .positionWrappingInputRange(0, 2 * Math.PI)
             .feedForward
-                .sva(kS, kV, kA);
+                .svag(kS, kV, kA, kG);
 
         kRightMotorConfig
             .idleMode(kIdleMode)

src/main/java/frc/robot/constants/IntakeRollerConstants.java

@@ -5,30 +5,24 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 public class IntakeRollerConstants {
     // TODO Real values
-    public static final int kLeftMotorCANID = 0;
+    public static final int kMotorCANID = 20;
-    public static final int kRightMotorCANID = 0;
 
-    public static final int kCurrentLimit = 30;
+    public static final int kCurrentLimit = 40;
 
-    public static final boolean kInvertMotors = false;
+    public static final boolean kInvertMotors = true;
+
+    public static final double kSpeed = .6;
 
     public static final IdleMode kIdleMode = IdleMode.kCoast;
 
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
 
     public static final SparkMaxConfig leftMotorConfig = new SparkMaxConfig();
-    public static final SparkMaxConfig rightMotorConfig = new SparkMaxConfig();
 
     static {
         leftMotorConfig
             .idleMode(kIdleMode)
             .smartCurrentLimit(kCurrentLimit)
             .inverted(kInvertMotors);
-
-        rightMotorConfig
-            .idleMode(kIdleMode)
-            .smartCurrentLimit(kCurrentLimit)
-            .inverted(kInvertMotors)
-            .follow(kLeftMotorCANID);
     }
 }

src/main/java/frc/robot/constants/ModuleConstants.java

@@ -7,6 +7,7 @@ import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
@@ -14,6 +15,24 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import edu.wpi.first.math.util.Units;
 
 public class ModuleConstants {
+    public enum ModuleName {
+        kFrontLeft("FrontLeft"),
+        kFrontRight("FrontRight"),
+        kRearLeft("RearLeft"),
+        kRearRight("RearRight");
+
+        private String loggableName;
+
+        private ModuleName(String loggableName) {
+            this.loggableName = loggableName;
+        }
+
+        public String getLoggableName() {
+            return "Drivetrain/Modules/" + loggableName;
+        }
+        
+    }
+
     // DRIVING MOTOR CONFIG (Kraken)
     public static final double kDrivingMotorReduction = (14.0 * 28.0 * 15.0) / (50 * 16 * 45);
 
@@ -45,10 +64,12 @@ public class ModuleConstants {
     public static final double kTurningMotorReduction = 150.0/7.0;
     public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
     // TODO Adjust? Let over from 2025
-    public static final double kTurnP = 1;
+    public static final double kTurnP = 12;
     public static final double kTurnI = 0;
     public static final double kTurnD = 0;
 
+    public static final double kTurnTolerance = Math.toRadians(0.25);
+
     public static final boolean kIsEncoderInverted = false;
 
     // TODO How sensitive is too sensitive?
@@ -100,6 +121,7 @@ public class ModuleConstants {
             .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
             .pid(kTurnP, kTurnI, kTurnD)
             .outputRange(-1, 1)
+            .allowedClosedLoopError(kTurnTolerance, ClosedLoopSlot.kSlot0)
             .positionWrappingEnabled(true)
             .positionWrappingInputRange(0, 2 * Math.PI);
             

src/main/java/frc/robot/constants/PhotonConstants.java

@@ -2,7 +2,9 @@ package frc.robot.constants;
 
 import java.util.List;
 
+import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.util.Units;
 import frc.robot.utilities.PhotonVisionConfig;
 
 public class PhotonConstants {
@@ -11,7 +13,16 @@ public class PhotonConstants {
 
     // TODO Need actual values for all of this
     public static final Transform3d kCamera1RobotToCam = new Transform3d();
-    public static final Transform3d kCamera2RobotToCam = new Transform3d();
+    public static final Transform3d kCamera2RobotToCam = new Transform3d(
+        Units.inchesToMeters(1.5),
+        Units.inchesToMeters(-10.5),
+        Units.inchesToMeters(28.5),
+        new Rotation3d(
+            Units.degreesToRadians(0), 
+            Units.degreesToRadians(24), 
+            Units.degreesToRadians(-10)
+        )
+    );
 
     public static final double kCamera1HeightMeters = 0;
     public static final double kCamera1PitchRadians = 0;
@@ -21,7 +32,7 @@ public class PhotonConstants {
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
 
     public static final List<PhotonVisionConfig> configs = List.of(
-        new PhotonVisionConfig(kCamera1Name, kCamera1RobotToCam, kCamera1HeightMeters, kCamera1PitchRadians),
+        //new PhotonVisionConfig(kCamera1Name, kCamera1RobotToCam, kCamera1HeightMeters, kCamera1PitchRadians),
         new PhotonVisionConfig(kCamera2Name, kCamera2RobotToCam, kCamera2HeightMeters, kCamera2PitchRadians)
     );
 }

src/main/java/frc/robot/constants/ShooterConstants.java

@@ -8,107 +8,94 @@ import edu.wpi.first.math.util.Units;
 
 public class ShooterConstants {
     public enum ShooterSpeeds {
-        kHubSpeed(0, 0),
+        kHubSpeed(3000.0),
-        kFeedSpeed(0, 0);
+        kFeedSpeed(5000.0);
 
-        private double frontRollerMPS;
+        private double speedMPS;
-        private double rearRollerMPS;
+        private double speedRPM;
 
-        private ShooterSpeeds(double frontRollerMPS, double rearRollerMPS) {
+        private ShooterSpeeds(double speedRPM) {
-            this.frontRollerMPS = frontRollerMPS;
+            this.speedMPS = speedRPM * kWheelDiameter*Math.PI;
-            this.rearRollerMPS = rearRollerMPS;
+            this.speedRPM = speedRPM;
         }
 
-        public double getFrontRollerMPS() {
+        public double getSpeedMPS() {
-            return frontRollerMPS;
+            return speedMPS * kWheelDiameter*Math.PI;
         }
 
-        public double getRearRollerMPS() {
+        public double getSpeedRPM(){
-            return rearRollerMPS;
+            return speedRPM;
         }
     }
 
     // TODO Conversion factor?
 
-    public static final double kWheelDiameter = Units.inchesToMeters(6);
+    public static final double kWheelDiameter = Units.inchesToMeters(4);
 
     // TODO Real values
-    public static final int kFrontShooterMotor1CANID = 0;
+    public static final int kLeftShooterMotorCANID = 2;
-    public static final int kFrontShooterMotor2CANID = 0;
+    public static final int kRightShooterMotorCANID = 5;
-    public static final int kRearShooterMotor1CANID = 0;
-    public static final int kRearShooterMotor2CANID = 0;
 
-    public static final boolean kFrontShooterMotor1Inverted = false;
+    public static final boolean kLeftShooterMotorInverted = true;
-    public static final boolean kFrontShooterMotor2Inverted = false;
+    public static final boolean kRightShooterMotorInverted = false;
-    public static final boolean kRearShooterMotor1Inverted = false;
-    public static final boolean kRearShooterMotor2Inverted = false;
 
-    public static final double kFrontP = 0;
+    public static final double kLeftP = 0.001;
-    public static final double kFrontI = 0;
+    public static final double kLeftI = 0;
-    public static final double kFrontD = 0;
+    public static final double kLeftD = 0;
-    public static final double kFrontS = 0;
+    public static final double kLeftS = 0;
-    public static final double kFrontV = 0;
+    public static final double kLeftV = 0.0013;
-    public static final double kFrontA = 0;
+    public static final double kLeftA = 0;
 
-    public static final double kRearP = 0;
+    public static final double kRightP = 0.001;
-    public static final double kRearI = 0;
+    public static final double kRightI = 0;
-    public static final double kRearD = 0;
+    public static final double kRightD = 0.000;
-    public static final double kRearS = 0;
+    public static final double kRightS = 0;
-    public static final double kRearV = 0;
+    public static final double kRightV = 0.00121;
-    public static final double kRearA = 0;
+    public static final double kRightA = 0;
+
+    public static final double kMaxManualSpeedMultiplier = 1;
+
+    public static final double kShooterHeightMeters = 0;
 
     // TODO Is this value sane?
-    public static final int kCurrentLimit = 30;
+    public static final int kCurrentLimit = 60;
 
     public static final IdleMode kShooterIdleMode = IdleMode.kCoast;
 
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
 
-    public static final SparkMaxConfig kFrontMotor1Config = new SparkMaxConfig();
+    public static final SparkMaxConfig kLeftMotorConfig = new SparkMaxConfig();
-    public static final SparkMaxConfig kFrontMotor2Config = new SparkMaxConfig();
+    public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
-    public static final SparkMaxConfig kRearMotor1Config = new SparkMaxConfig();
-    public static final SparkMaxConfig kRearMotor2Config = new SparkMaxConfig();
 
 
     static {
-        kFrontMotor1Config
+        kLeftMotorConfig
             .idleMode(kShooterIdleMode)
             .smartCurrentLimit(kCurrentLimit)
-            .inverted(kFrontShooterMotor1Inverted);
+            .inverted(kLeftShooterMotorInverted);
-        kFrontMotor1Config.absoluteEncoder
+        kLeftMotorConfig.absoluteEncoder
-            .positionConversionFactor(kWheelDiameter * Math.PI)
+            .positionConversionFactor(1)
-            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
+            .velocityConversionFactor(60);
-        kFrontMotor1Config.closedLoop
+        kLeftMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
-            .pid(kFrontP, kFrontI, kFrontD)
+            .pid(kLeftP, kLeftI, kLeftD)
             .outputRange(-1, 1)
             .feedForward
-                .sva(kFrontS, kFrontV, kFrontA);
+                .sva(kLeftS, kLeftV, kLeftA);
 
-        kFrontMotor2Config
+        kRightMotorConfig
             .idleMode(kShooterIdleMode)
             .smartCurrentLimit(kCurrentLimit)
-            .inverted(kFrontShooterMotor2Inverted)
+            .inverted(kRightShooterMotorInverted);
-            .follow(kFrontShooterMotor1CANID);
+        kRightMotorConfig.absoluteEncoder
-
+            .positionConversionFactor(1)
-        kRearMotor1Config
+            .velocityConversionFactor(60)
-            .idleMode(kShooterIdleMode)
+            .inverted(true);
-            .smartCurrentLimit(kCurrentLimit)
+        kRightMotorConfig.closedLoop
-            .inverted(kRearShooterMotor1Inverted);
-        kRearMotor1Config.absoluteEncoder
-            .positionConversionFactor(kWheelDiameter * Math.PI)
-            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
-        kRearMotor1Config.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
-            .pid(kRearP, kRearI, kRearD)
+            .pid(kRightP, kRightI, kRightD)
             .outputRange(-1, 1)
             .feedForward
-                .sva(kRearS, kRearV, kRearA);
+                .sva(kRightS, kRightV, kRightA);
-
-        kRearMotor2Config
-            .idleMode(kShooterIdleMode)
-            .smartCurrentLimit(kCurrentLimit)
-            .inverted(kRearShooterMotor2Inverted)
-            .follow(kRearShooterMotor1CANID);
     }
 }

src/main/java/frc/robot/constants/SpindexerConstants.java

@@ -10,16 +10,19 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 public class SpindexerConstants {
     // TODO Real values
     public static final int kSpindexerMotorCANID = 0;
-    public static final int kFeederMotorCANID = 0;
+    public static final int kFeederMotorCANID = 4;
 
-    public static final int kSpindexerStatorCurrentLimit = 80;
+    public static final int kSpindexerStatorCurrentLimit = 110;
-    public static final int kSpindexerSupplyCurrentLimit = 30;
+    public static final int kSpindexerSupplyCurrentLimit = 60;
-    public static final int kFeederCurrentLimit = 30;
+    public static final int kFeederCurrentLimit = 40;
 
-    public static final boolean kFeederMotorInverted = false;
+    public static final double kSpindexerSpeed = 1;
+    public static final double kFeederSpeed = 1;
+
+    public static final boolean kFeederMotorInverted = true;
 
     public static final InvertedValue kSpindexerInversionState = InvertedValue.Clockwise_Positive;
-    public static final NeutralModeValue kSpindexerIdleMode = NeutralModeValue.Brake;
+    public static final NeutralModeValue kSpindexerIdleMode = NeutralModeValue.Coast;
 
     public static final IdleMode kFeederIdleMode = IdleMode.kBrake;
 

src/main/java/frc/robot/interfaces/IAprilTagProvider.java

@@ -1,39 +0,0 @@
-package frc.robot.interfaces;
-
-import java.util.OptionalDouble;
-
-/**
- * An interface which ensures a class can provide common AprilTag oriented
- * information from various sources in a consistent way.
- */
-public interface IAprilTagProvider {
-    /**
-     * A method to get the tags currently in the camera's field of view
-     * @return
-     */
-    public int[] getVisibleTagIDs();
-
-    /**
-     * A method to get the distance from <i>the camera</i> to the AprilTag specified
-     * 
-     * @param id The ID of the AprilTag to give a distance to
-     * @return The distance, in meters, to the target, or OptionalDouble.empty() if the tag is not present in the camera's view
-     */
-    public OptionalDouble getTagDistanceFromCameraByID(int id);
-
-    /**
-     * A method to get the pitch from the center of the image of a particular AprilTag
-     * 
-     * @param id The ID of the AprilTag to get the pitch of
-     * @return The pitch, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
-     */
-    public OptionalDouble getTagPitchByID(int id);
-
-    /**
-     * A method to get the yaw from the center of the image of a particular AprilTag
-     * 
-     * @param id The ID of the AprilTag to get the yaw of
-     * @return The yaw, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
-     */
-    public OptionalDouble getTagYawByID(int id);
-}

src/main/java/frc/robot/interfaces/IVisualPoseProvider.java

@@ -1,27 +0,0 @@
-package frc.robot.interfaces;
-
-import java.util.Optional;
-
-import edu.wpi.first.math.geometry.Pose2d;
-
-/**
- * An interface which ensures a class' ability to provide visual pose information
- * in a consistent way
- */
-public interface IVisualPoseProvider {
-    /**
-     * A record that can contain the two elements necessary for a WPILIB
-     * pose estimator to use the information from a vision system as part of a full
-     * robot pose estimation
-     */
-    public record VisualPose(Pose2d visualPose, double timestamp) {}
-
-    /**
-     * Return a VisualPose or null if an empty Optional if none is available.
-     * Implementation should provide an empty response if it's unable to provide
-     * a reliable pose, or any pose at all.
-     * 
-     * @return An Optional containing a VisualPose, or empty if no VisualPose can reliably be provided
-     */
-    public Optional<VisualPose> getVisualPose();
-}

src/main/java/frc/robot/subsystems/Climber.java

@@ -0,0 +1,74 @@
+package frc.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+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.ClimberConstants;
+import frc.robot.constants.ClimberConstants.ClimberPositions;
+
+public class Climber extends SubsystemBase {
+    private SparkMax motor;
+
+    private RelativeEncoder encoder;
+
+    private SparkClosedLoopController controller;
+
+    private ClimberPositions targetPosition;
+
+    public Climber() {
+        motor = new SparkMax(ClimberConstants.kMotorCANID, MotorType.kBrushless);
+
+        motor.configure(
+            ClimberConstants.kMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        encoder = motor.getEncoder();
+
+        controller = motor.getClosedLoopController();
+
+        targetPosition = null;
+    }
+
+    @Override
+    public void periodic() {
+        Logger.recordOutput("Climber/TargetPositionMeters", targetPosition == null ? -1 : targetPosition.getPositionMeters());
+        Logger.recordOutput("Climber/CurrentPositionMeters", encoder.getPosition());
+        Logger.recordOutput("Climber/AtSetpoint", controller.isAtSetpoint());
+    }
+
+    public Command maintainPosition(ClimberPositions position) {
+        return run(() -> {
+            targetPosition = position;
+
+            controller.setSetpoint(
+                position.getPositionMeters(), 
+                ControlType.kPosition
+            );
+        });
+    }
+
+    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            targetPosition = null;
+
+            motor.set(speed.getAsDouble());
+        });
+    }
+
+    public Command stop() {
+        return manualSpeed(() -> 0);
+    }
+}

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -1,9 +1,10 @@
 package frc.robot.subsystems;
 
+import java.util.List;
 import java.util.Optional;
-import java.util.OptionalDouble;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
 
 import org.littletonrobotics.junction.Logger;
 
@@ -28,8 +29,10 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.AutoConstants;
 import frc.robot.constants.DrivetrainConstants;
 import frc.robot.constants.OIConstants;
-import frc.robot.interfaces.IVisualPoseProvider.VisualPose;
+import frc.robot.constants.ModuleConstants.ModuleName;
 import frc.robot.utilities.SwerveModule;
+import frc.robot.utilities.Utilities;
+import frc.robot.utilities.VisualPose;
 
 public class Drivetrain extends SubsystemBase {
     private SwerveModule frontLeft;
@@ -41,12 +44,11 @@ public class Drivetrain extends SubsystemBase {
 
     private SwerveDrivePoseEstimator estimator;
 
-    private PhotonVision camera1;
+    private PIDController yawRotationController;
-    private PhotonVision camera2;
 
-    public Drivetrain() {
+    public Drivetrain(Pose2d startupPose) {
         frontLeft = new SwerveModule(
-            "FrontLeft", 
+            ModuleName.kFrontLeft, 
             DrivetrainConstants.kFrontLeftDrivingCANID, 
             DrivetrainConstants.kFrontLeftTurningCANID, 
             DrivetrainConstants.kFrontLeftAnalogInPort, 
@@ -54,7 +56,7 @@ public class Drivetrain extends SubsystemBase {
         );
 
         frontRight = new SwerveModule(
-            "FrontRight", 
+            ModuleName.kFrontRight, 
             DrivetrainConstants.kFrontRightDrivingCANID, 
             DrivetrainConstants.kFrontRightTurningCANID, 
             DrivetrainConstants.kFrontRightAnalogInPort, 
@@ -62,7 +64,7 @@ public class Drivetrain extends SubsystemBase {
         );
 
         rearLeft = new SwerveModule(
-            "RearLeft", 
+            ModuleName.kRearLeft, 
             DrivetrainConstants.kRearLeftDrivingCANID, 
             DrivetrainConstants.kRearLeftTurningCANID, 
             DrivetrainConstants.kRearLeftAnalogInPort, 
@@ -70,7 +72,7 @@ public class Drivetrain extends SubsystemBase {
         );
 
         rearRight = new SwerveModule(
-            "RearRight", 
+            ModuleName.kRearRight, 
             DrivetrainConstants.kRearRightDrivingCANID, 
             DrivetrainConstants.kRearRightTurningCANID, 
             DrivetrainConstants.kRearRightAnalogInPort, 
@@ -79,6 +81,14 @@ public class Drivetrain extends SubsystemBase {
 
         gyro = new AHRS(NavXComType.kMXP_SPI);
 
+        yawRotationController = new PIDController(
+            AutoConstants.kPThetaController, 
+            0, 
+            0
+        );
+        yawRotationController.enableContinuousInput(-Math.PI, Math.PI);
+        yawRotationController.setTolerance(AutoConstants.kYawPIDTolerance);
+
         // TODO 2025 used non-standard deviations for encoder/gyro inputs and vision, will need to be tuned for 2026 in the future
         estimator = new SwerveDrivePoseEstimator(
             DrivetrainConstants.kDriveKinematics, 
@@ -89,7 +99,9 @@ public class Drivetrain extends SubsystemBase {
                 rearLeft.getPosition(),
                 rearRight.getPosition()
             },
-            new Pose2d()
+            startupPose != null ? startupPose : new Pose2d(),
+            DrivetrainConstants.kSensorFusionOdometryStdDevs,
+            DrivetrainConstants.kVisionOdometryStdDevs
         );
 
         if(AutoConstants.kAutoConfigOk) {
@@ -131,35 +143,35 @@ public class Drivetrain extends SubsystemBase {
 
         Logger.recordOutput("Drivetrain/Pose", getPose());
         Logger.recordOutput("Drivetrain/Gyro Angle", getGyroValue());
-        Logger.recordOutput("Drivetrain/Heading", getHeading());
+        Logger.recordOutput("Drivetrain/Heading", getHeadingDegrees());
     }
 
-    public Command runFrontLeft(double staticSpeed, double staticAngleDegrees) {
+    /**
+     * Can be used to run an individual module on the drive base a static speed while maintaining a static angle.
+     * 
+     * Good for diagnosing issues with swerve module configuration. Essentially useless otherwise.
+     * 
+     * @param name The ModuleName enumeration that indicates which module you want to control
+     * @param staticSpeed The static speed in Meters Per Second to spin the drive wheel at
+     * @param staticAngleDegrees The static angle in degrees that you want the wheel to face
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command runIndividualModule(ModuleName name, double staticSpeed, double staticAngleDegrees) {
+        SwerveModule module = List.of(
+            frontLeft,
+            frontRight,
+            rearLeft,
+            rearRight
+        ).stream()
+        .filter((m) -> m.getModuleName() == name)
+        .findFirst()
+        .get();
+
         return run(() -> {
-            frontLeft.setDesiredState(new SwerveModuleState(
+            module.setDesiredState(new SwerveModuleState(
                 staticSpeed, 
-                Rotation2d.fromDegrees(staticAngleDegrees)));
+                Rotation2d.fromDegrees(staticAngleDegrees)
-        });
+            ));
-    }
-    public Command runFrontRight(double staticSpeed, double staticAngleDegrees) {
-        return run(() -> {
-            frontRight.setDesiredState(new SwerveModuleState(
-                staticSpeed, 
-                Rotation2d.fromDegrees(staticAngleDegrees)));
-        });
-    }
-    public Command runRearLeft(double staticSpeed, double staticAngleDegrees) {
-        return run(() -> {
-            rearLeft.setDesiredState(new SwerveModuleState(
-                staticSpeed, 
-                Rotation2d.fromDegrees(staticAngleDegrees)));
-        });
-    }
-    public Command runRearRight(double staticSpeed, double staticAngleDegrees) {
-        return run(() -> {
-            rearRight.setDesiredState(new SwerveModuleState(
-                staticSpeed, 
-                Rotation2d.fromDegrees(staticAngleDegrees)));
         });
     }
 
@@ -172,32 +184,114 @@ public class Drivetrain extends SubsystemBase {
         });  
     }
 
-    // TODO check both cameras
+    /**
-    /*public Command driveAprilTagLock(DoubleSupplier xSpeed, DoubleSupplier ySpeed, double deadband, int tagID) {
+     * Rotates the robot to a face a given Pose2d position on the field
-        if (camera1 == null) {
+     * 
-            return new PrintCommand("Camera 1 not available");
+     * Note that this Command does not provide a means of timeout. If you are
+     * using this in an auto context, this Command should be decorated with 
+     * withTimeout(<some_value>). Otherwise, you will be waiting for the PID
+     * Controller doing the work to report that it is at the desired setpoint. 
+     * 
+     * @param targetPose The Pose2d object to rotate the robot towards
+     * @param rotate180 When false, the front of the robot faces the specified pose, when true
+     *   the back of the robot faces the specified pose
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command rotateToPose(Pose2d targetPose, boolean rotate180) {
+        return lockRotationToSuppliedPose(() -> targetPose, () -> 0, () -> 0, rotate180)
+            .until(yawRotationController::atSetpoint);
     }
 
-        // TODO The process variable is different here than what these constants are used for, may need to use something different
+    /**
-        PIDController controller = new PIDController(
+     * Locks the robots rotation to face the Alliance Hub on the field. 
-            AutoConstants.kPThetaController, 
+     * 
-            0, 
+     * This method is innately aware of which hub to face based on the assigned alliance color.
-            0
+     * 
+     * This method is <i>NOT</i> for autonomous, see rotateToPose
+     * 
+     * This method provides a field oriented mechanism of driving the robot, such that the robot
+     * is always facing the point on the field that is the center of the alliance hub. This
+     * method assumes that the robots estimated pose is reasonably accurate. 
+     * 
+     * @param xSpeed The X (forward/backward) translational speed of the robot
+     * @param ySpeed The Y (left/right) translational speed of the robot
+     * @param rotate180 When false, the front of the robot faces the hub, when true, the back
+     *   of the robot faces the hub
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command lockRotationToHub(DoubleSupplier xSpeed, DoubleSupplier ySpeed, boolean rotate180) {
+        return lockRotationToSuppliedPose(
+            Utilities::getHubPose, 
+            xSpeed, 
+            ySpeed, 
+            rotate180
         );
+    }
 
-        return runOnce(controller::reset).andThen(
+    /**
+     * Locks the robots rotation to face a particular pose on the field
+     * 
+     * This method is <i>NOT</i> for autonomous, see rotateToPose
+     * 
+     * This method provides a field oriented mechanism of driving the robot, such that the robot
+     * is always facing the point on the field that is the Pose2d object being supplied. This 
+     * method assumes that the robots estimated pose is reasonably accurate.
+     * 
+     * @param poseSupplier A Supplier object, lambda, or method reference which consistently produces a Pose2d object to point towards
+     * @param xSpeed The X (forward/backward) translational speed of the robot
+     * @param ySpeed The Y (left/right) translational speed of the robot
+     * @param rotate180 When false, the front of the robot faces the supplied pose, when true, the back
+     *   of the robot faces the supplied pose
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command lockRotationToSuppliedPose(Supplier<Pose2d> poseSupplier, DoubleSupplier xSpeed, DoubleSupplier ySpeed, boolean rotate180) {
+        return runOnce(yawRotationController::reset).andThen(
             drive(
                 xSpeed,
                 ySpeed, 
                 () -> {
-                    OptionalDouble tagYaw = camera1.getTagYawByID(tagID);
+                    Pose2d faceTowards = poseSupplier.get();
 
-                    return (tagYaw.isEmpty() ? 0 : controller.calculate(tagYaw.getAsDouble(), 0));
+                    Rotation2d targetRotation = new Rotation2d(
+                        faceTowards.getX() - getPose().getX(), 
+                        faceTowards.getY() - getPose().getY()
+                    );
+
+                    if(rotate180) {
+                        targetRotation = targetRotation.rotateBy(Rotation2d.k180deg);
+                    }
+
+                    return yawRotationController.calculate(
+                        getHeading().getRadians(),
+                        targetRotation.getRadians()
+                    );
                 }, 
-                () -> false
+                () -> true
             )
         );
-    }*/
+    }
+
+    /**
+     * A method to lock to a particular source of an external "yaw". The intent is for this yaw to be sourced from
+     * {@link frc.robot.subsystems.PhotonVision#getBestYawForTag(int)} which generates a "yaw" for a particular tag as referenced
+     * from the center point of the cameras image frame. The objective being to "0 the source" using a PID Controller, or in
+     * other terms, to center the provided tag in the camera's image frame.
+     * 
+     * @param yaw The "yaw" of the tag source relative to the center of the image frame
+     * @param xSpeed The X (forward/backward) translational speed of the robot
+     * @param ySpeed The Y (left/right) translational speed of the robot
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command lockToYaw(DoubleSupplier yaw, DoubleSupplier xSpeed, DoubleSupplier ySpeed) {
+        return runOnce(yawRotationController::reset).andThen(
+            drive(
+                xSpeed,
+                ySpeed, 
+                () -> yawRotationController.calculate(yaw.getAsDouble(), 0),
+                () -> true
+            )
+        );
+    }
 
     public Command drivePathPlannerPath(PathPlannerPath path) {
         if(AutoConstants.kAutoConfigOk) {
@@ -229,6 +323,13 @@ public class Drivetrain extends SubsystemBase {
         });
     }
 
+    public Command zeroHeading() {
+        return run(() -> {
+            gyro.reset();
+            estimator.resetRotation(new Rotation2d(0));
+        });
+    }
+
     public void consumeVisualPose(VisualPose pose) {
         estimator.addVisionMeasurement(
             pose.visualPose(), 
@@ -314,7 +415,11 @@ public class Drivetrain extends SubsystemBase {
         return gyro.getAngle() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
     }
 
-    public double getHeading() {
+    public Rotation2d getHeading() {
+        return estimator.getEstimatedPosition().getRotation();
+    }
+
+    public double getHeadingDegrees() {
         return estimator.getEstimatedPosition().getRotation().getDegrees();
     }
 }

src/main/java/frc/robot/subsystems/Hood.java

@@ -4,57 +4,133 @@ import java.util.function.DoubleSupplier;
 
 import org.littletonrobotics.junction.Logger;
 
-import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
 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.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.constants.HoodConstants;
 
 public class Hood extends SubsystemBase {
     private SparkMax motor;
 
-    private AbsoluteEncoder encoder;
+    private RelativeEncoder encoder;
 
     private SparkClosedLoopController controller;
 
-    private double currentTargetRadians;
+    private Trigger resetTrigger;
+    private Trigger timerTrigger;
+
+    private Timer resetTimer;
+
+    private double currentTargetDegrees;
 
     public Hood() {
         motor = new SparkMax(HoodConstants.kMotorCANID, MotorType.kBrushless);
 
-        encoder = motor.getAbsoluteEncoder();
+        motor.configure(
+            HoodConstants.kConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );   
+
+        encoder = motor.getEncoder();
+        encoder.setPosition(HoodConstants.kStartupAngle);
 
         controller = motor.getClosedLoopController();
 
-        currentTargetRadians = HoodConstants.kStartupAngle;
+        resetTimer = new Timer();
+        resetTimer.reset();
+
+        resetTrigger = new Trigger(() -> (motor.getOutputCurrent() > HoodConstants.kAmpsToTriggerPositionReset));
+        resetTrigger.onTrue(new InstantCommand(resetTimer::start));
+        resetTrigger.onFalse(new InstantCommand(() -> {
+            resetTimer.stop();
+            resetTimer.reset();
+        }));
+
+        timerTrigger = new Trigger(() -> resetTimer.hasElapsed(HoodConstants.kTimeAboveThresholdToReset));
+        timerTrigger.onTrue(new InstantCommand(() -> {
+            encoder.setPosition(0);
+            resetTimer.reset();
+        }));
+
+        currentTargetDegrees = HoodConstants.kStartupAngle;
     }
 
     @Override
     public void periodic() {
-        Logger.recordOutput("Hood/CurrentTarget", currentTargetRadians);
+        Logger.recordOutput("Hood/OutputCurrent", motor.getOutputCurrent());
-        Logger.recordOutput("Hood/CurrentAngle", encoder.getPosition());
+        Logger.recordOutput("Hood/CurrentTarget", Math.toDegrees(currentTargetDegrees));
+        Logger.recordOutput("Hood/CurrentAngle", Math.toDegrees(encoder.getPosition()));
         Logger.recordOutput("Hood/AtSetpoint", controller.isAtSetpoint());
+        Logger.recordOutput("Hood/VoltageOut", motor.getAppliedOutput()*motor.getBusVoltage());
     }
 
-    public Command trackToAngle(DoubleSupplier radianAngleSupplier) {
+    public Command trackToAngle(DoubleSupplier degreeAngleSupplier) {
         return run(() -> {
-            currentTargetRadians = radianAngleSupplier.getAsDouble();
+            currentTargetDegrees = degreeAngleSupplier.getAsDouble();
 
-            controller.setSetpoint(currentTargetRadians, ControlType.kPosition);
+            controller.setSetpoint(currentTargetDegrees, ControlType.kPosition);
+        });
+    }
+
+    /**
+     * An automated form of resetting the hood position sensing.
+     * 
+     * Run down at the full manual speed (note that this is affected by the 
+     * kMaxManualSpeedMultiplier constant) until the timer trigger becomes true
+     * (i.e. the output current has been above the threshold (kAmpsToTriggerPositionReset) 
+     * for reset for the amount of specified by kTimeAboveThresholdToReset). Once
+     * that returns true, the motor is stopped until the timer trigger switches to false
+     * (i.e. it has reset the position automatically, because that's how it's configured, 
+     * and resets the timer to 0, which makes the timer trigger false)
+     * 
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command automatedRezero() {
+        return manualSpeed(() -> -1)
+            .until(timerTrigger)
+            .andThen(
+                stop().until(timerTrigger.negate())
+        );
+    }
+
+    /**
+     * An alternate form of {@link #automatedRezero()} that doesn't rely on the triggers
+     * to reset the hood position to zero. Note that this method doesn't have any time limiting
+     * factor to it, as soon as the current goes above the threshold specified by 
+     * kAmpsToTriggerPositionReset the encoder position will be set to zero
+     * 
+     * @return A complete Command structure that performs the specified action
+     */
+    public Command automatedRezeroNoTimer() {
+        return manualSpeed(() -> -1)
+            .until(() -> motor.getOutputCurrent() >= HoodConstants.kAmpsToTriggerPositionReset)
+            .andThen(new InstantCommand(() -> encoder.setPosition(0)));
+    }
+
+    public Command manualSpeed(DoubleSupplier speed) {
+        currentTargetDegrees = 0;
+
+        return run(() -> {
+            motor.set(speed.getAsDouble() * HoodConstants.kMaxManualSpeedMultiplier);
         });
     }
 
     public Command stop() {
-        return run(() -> {
+        return manualSpeed(() -> 0);
-            motor.disable();
-        });
     }
 
-    public double getTargetRadians() {
+    public double getTargetDegrees() {
-        return currentTargetRadians;
+        return currentTargetDegrees;
     }
 }

src/main/java/frc/robot/subsystems/IntakePivot.java

@@ -1,11 +1,12 @@
 package frc.robot.subsystems;
 
 import java.util.Optional;
+import java.util.function.DoubleSupplier;
 
 import org.littletonrobotics.junction.Logger;
 
-import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
 import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.SparkMax;
@@ -21,7 +22,7 @@ public class IntakePivot extends SubsystemBase {
     private SparkMax leftMotor;
     private SparkMax rightMotor;
 
-    private AbsoluteEncoder encoder;
+    private RelativeEncoder encoder;
 
     private SparkClosedLoopController controller;
 
@@ -45,7 +46,8 @@ public class IntakePivot extends SubsystemBase {
 
         controller = leftMotor.getClosedLoopController();
 
-        encoder = leftMotor.getAbsoluteEncoder();
+        encoder = leftMotor.getEncoder();
+        encoder.setPosition(IntakePivotConstants.IntakePivotPosition.kUp.getPositionRadians());
     }
 
     @Override
@@ -58,9 +60,9 @@ public class IntakePivot extends SubsystemBase {
     }
 
     public Command maintainPosition(IntakePivotPosition position) {
+        return run(() -> {
             currentTargetPosition = position;
 
-        return run(() -> {
             if(currentTargetPosition == null) {
                 leftMotor.disable();
             } else {
@@ -69,8 +71,16 @@ public class IntakePivot extends SubsystemBase {
         });
     }
 
+    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            currentTargetPosition = null;
+            
+            leftMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
+        });
+    }
+
     public Command stop() {
-        return maintainPosition(null);
+        return manualSpeed(() -> 0);
     }
 
     public Optional<IntakePivotPosition> getCurrentTargetPosition() {

src/main/java/frc/robot/subsystems/IntakeRoller.java

@@ -10,41 +10,33 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.IntakeRollerConstants;
 
 public class IntakeRoller extends SubsystemBase {
-    private SparkMax leftMotor;
+    private SparkMax motor;
-    private SparkMax rightMotor;
 
     public IntakeRoller() {
-        leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
+        motor = new SparkMax(IntakeRollerConstants.kMotorCANID, MotorType.kBrushless);
-        rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
 
-        leftMotor.configure(
+        motor.configure(
             IntakeRollerConstants.leftMotorConfig, 
             ResetMode.kResetSafeParameters, 
             PersistMode.kPersistParameters
         );
-
-        rightMotor.configure(
-            IntakeRollerConstants.rightMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
     }
 
     public Command runIn() {
         return run(() -> {
-            leftMotor.set(1);
+            motor.set(IntakeRollerConstants.kSpeed);
         });
     }
 
     public Command runOut() {
         return run(() -> {
-            leftMotor.set(-1);
+            motor.set(-IntakeRollerConstants.kSpeed);
         });
     }
 
     public Command stop() {
         return run(() -> {
-            leftMotor.set(0);
+            motor.set(0);
         });
     }
     

src/main/java/frc/robot/subsystems/PhotonVision.java

@@ -1,33 +1,48 @@
 package frc.robot.subsystems;
 
-import java.io.IOException;
 import java.util.ArrayList;
-import java.util.Comparator;
 import java.util.List;
 import java.util.Optional;
 import java.util.OptionalDouble;
 import java.util.function.Consumer;
-import java.util.stream.Stream;
 
 import org.photonvision.EstimatedRobotPose;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonPoseEstimator;
 import org.photonvision.PhotonPoseEstimator.PoseStrategy;
-import org.photonvision.PhotonUtils;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
+import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.constants.CompetitionConstants;
 import frc.robot.constants.PhotonConstants;
-import frc.robot.interfaces.IAprilTagProvider;
-import frc.robot.interfaces.IVisualPoseProvider;
-import frc.robot.interfaces.IVisualPoseProvider.VisualPose;
 import frc.robot.utilities.PhotonVisionConfig;
+import frc.robot.utilities.VisualPose;
 
+/**
+ * This "Subsystem" is not actually a Subsystem. The intent is for this to be treated as
+ * a "resource", that is, something that is not inherently a physical mechanism to be controlled.
+ * 
+ * A "resource" in this instance should be thought of as something that can be safely shared
+ * by other Subsystems generally without collision if more that one Subsystem requires the 
+ * "resource" at any given time.
+ * 
+ * Resources should <i>NOT</i> produce Commands, they should not have a default Command.
+ * Resources do not have behaviors, and because Commands are in of themselves behaviors,
+ * this class should not have Commands. 
+ * 
+ * Part of the thinking behind creating the PhotonVision components this way is to rely
+ * on the CommandScheduler to call periodic. If this weren't the case, some other subsystem
+ * would have to manage calling for periodic updates, while still sharing the resource with 
+ * other subsystems <i>somehow</i>. 
+ * 
+ * This class is dynamic, by adding or removing PhotonVisionConfig objects to the "configs"
+ * List in the PhotonConstants file, you change what is set up internally in this class. 
+ * 1 config means 1 camera, 1 estimator, 1 stored pipeline result, 2 configs means 2 cameras,
+ * 2 estimators, etc. etc. 
+ */
 public class PhotonVision extends SubsystemBase {
     private PhotonCamera[] cameras;
     private PhotonPoseEstimator[] estimators;
@@ -60,12 +75,12 @@ public class PhotonVision extends SubsystemBase {
 
             if(!results.isEmpty()) {
                 latestResults.set(i, results.get(results.size() - 1));
-            }
 
                 Optional<EstimatedRobotPose> pose = estimators[i].update(latestResults.get(i));
 
                 if(!pose.isEmpty()) {
                     VisualPose visualPose = new VisualPose(
+                        cameras[i].getName(),
                         pose.get().estimatedPose.toPose2d(), 
                         pose.get().timestampSeconds
                     );
@@ -76,123 +91,115 @@ public class PhotonVision extends SubsystemBase {
                 }
             }
         }
-
-    public void testMethod(int targetID) {
-        Optional<PhotonTrackedTarget> target = latestResults.stream()
-            .filter((p) -> p != null)
-            .map(PhotonPipelineResult::getTargets)
-            .map(List::stream)
-            .reduce(Stream::concat)
-            .get()
-            .filter((p) -> p.getFiducialId() == targetID)
-            .max(
-                Comparator.comparingDouble((ptt) -> {
-                    return (double)ptt.getDetectedObjectConfidence();
-                })
-            );
-
     }
 
-    public void addPoseEstimateConsumer(Consumer<VisualPose> consumer) {
+    /**
-        poseEstimateConsumers.add(consumer);
+     * Returns the best 3D pose for a given AprilTag ID as seen by the cameras on the robot.
+     * 
+     * All cameras fields of view are observed, if no camera can see the given tag ID, this
+     * method will return Optional.empty().
+     * 
+     * Note that this method has no minimum confidence threshold for a tag. This means that 
+     * if one camera thinks it sees the tag, even with very low confidence, it'll still return
+     * some sort of pose. 
+     * 
+     * @param tagID The ID of the tag to look for in the latest results from all cameras
+     * @return An Optional object containing a Pose3d object, or Optional.empty() if
+     *   the tag is not present anywhere in the robots field of view. 
+     */
+    public Optional<Pose3d> getBestPoseForTag(int tagID) {
+        PhotonVisionConfig config = null;
+        Transform3d bestCameraToTarget = null;
+        float bestConfidence = -1;
+
+        for(int cameraIndex = 0; cameraIndex < latestResults.size(); cameraIndex++) {
+            if(latestResults.get(cameraIndex) == null) {
+                continue;
             }
 
-    /*public Trigger tagPrescenseTrigger(int targetTag) {
+            for(PhotonTrackedTarget target: latestResults.get(cameraIndex).getTargets()) {
-        return new Trigger(() -> {
+                if(target.getFiducialId() != tagID || bestConfidence > target.getDetectedObjectConfidence()) {
-            return List.of(latestResults).stream()
+                    continue;
-                .filter((p) -> p != null)
-                .anyMatch((p) -> {
-                    return p.getTargets().stream().map(PhotonTrackedTarget::getFiducialId).anyMatch((i) -> {
-                        return i == targetTag;
-                    });
-                });
-            });
-    }*/
-/* 
-    @Override
-    public OptionalDouble getTagDistanceFromCameraByID(int id) {
-        if (latestResult == null) {
-            return OptionalDouble.empty();
                 }
 
-        if (!latestResult.hasTargets()) {
+                config = PhotonConstants.configs.get(cameraIndex);
-            return OptionalDouble.empty();
+                bestCameraToTarget = target.bestCameraToTarget;
-        }
+                bestConfidence = target.getDetectedObjectConfidence();
-
-        Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
-        
-        if (desiredTarget.isEmpty()) {
-            return OptionalDouble.empty();
-        }
-
-        return OptionalDouble.of(
-            PhotonUtils.calculateDistanceToTargetMeters(
-                cameraHeightMeters, 
-                CompetitionConstants.kTagLayout.getTagPose(id).get().getZ(),
-                cameraPitchRadians, 
-                Units.degreesToRadians(desiredTarget.get().getPitch()))
-        );
-    }
-
-    @Override
-    public OptionalDouble getTagPitchByID(int id) {
-        if(latestResult == null) {
-            OptionalDouble.empty();
-        }
-        
-        if (!latestResult.hasTargets()) {
-            return OptionalDouble.empty();
-        }
-
-        Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
-
-        if (desiredTarget.isEmpty()) {
-            return OptionalDouble.empty();
-        }
-
-        return OptionalDouble.of(
-            desiredTarget.get().getPitch()
-        );
-    }
-
-    @Override
-    public OptionalDouble getTagYawByID(int id) {
-        if(latestResult == null) {
-            OptionalDouble.empty();
-        }
-        
-        if (!latestResult.hasTargets()) {
-            return OptionalDouble.empty();
-        }
-
-        Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
-
-        if (desiredTarget.isEmpty()) {
-            return OptionalDouble.empty();
-        }
-
-        return OptionalDouble.of(
-            desiredTarget.get().getYaw()
-        );
-    }
-
-    private Optional<PhotonTrackedTarget> getTargetFromList(List<PhotonTrackedTarget> targets, int id) {
-        for (PhotonTrackedTarget target : targets) {
-            if (target.getFiducialId() == id) {
-                return Optional.of(target);
             }
         }
 
+        if(bestCameraToTarget == null) {
             return Optional.empty();
         }
 
-    @Override
+        // This is based on what PhotonVision does for multitag Pose estimation
-    public int[] getVisibleTagIDs() {
+        // See PhotonPoseEstimator.multiTagOnCoprocStrategy
-        if(latestResult == null) {
+        // TODO This doesn't currently account for the offset of the tag relative to say the hub
-            return new int[] {};
+        // unclear if that offset amount will be important or not
+        return Optional.of(Pose3d.kZero
+            .plus(bestCameraToTarget.inverse())
+            .relativeTo(CompetitionConstants.kTagLayout.getOrigin())
+            .plus(config.robotToCamera().inverse()));
     }
 
-        return latestResult.getTargets().stream().mapToInt(PhotonTrackedTarget::getFiducialId).toArray();
+    /**
-    }
+     * Returns the best yaw for a given AprilTag ID as seen by the cameras on the robot.
+     * 
+     * All cameras fields of view are observed, if no camera can see the given tag ID, this
+     * method will return OptionalDouble.empty()
+     * 
+     * Note that this method has no minimum confidence threshold for a tag. This means that
+     * if one camera thinks it sees the tag, even with very low confidence, it'll still
+     * return some sort of yaw value.
+     * 
+     * Note that the yaw value here is the yaw of the observed tag relative to the center
+     * of the cameras image frame. 
+     * 
+     * @param tagID The ID of the tag to look for in the latest results from all cameras
+     * @return An OptionalDouble object containing a Double representing the described yaw
+     *   of the AprilTag specified, or OptionalDouble.empty() if the tag is not present
+     *   anywhere in the robots field of view
      */
+    public OptionalDouble getBestYawForTag(int tagID) {
+        double bestTagYaw = -1;
+        float bestConfidence = -1;
+
+        for(PhotonPipelineResult result: latestResults) {
+            if(result == null) {
+                continue;
+            }
+
+            for(PhotonTrackedTarget target: result.getTargets()) {
+                if(target.getFiducialId() != tagID || bestConfidence > target.getDetectedObjectClassID()) {
+                    continue;
+                }
+
+                bestTagYaw = target.getYaw();
+                bestConfidence = target.getDetectedObjectConfidence();
+            }
+        }
+
+        if(bestConfidence == -1) {
+            return OptionalDouble.empty();
+        }
+
+        return OptionalDouble.of(bestTagYaw);
+    }
+
+    /**
+     * Add a Consumer of VisualPose records to the PhotonVision resource. 
+     * 
+     * Each consumer will receive a VisualPose object when any camera produces a new
+     * VisualPose. 
+     * 
+     * The number of Poses produced in a given 20ms cycle is the same number as how many
+     * cameras there are on the robot, assuming those cameras see enough tags to generate a pose, 
+     * as currently all cameras configuration will generate a Pose2d
+     * 
+     * @param consumer The lambda, functional reference, or Consumer implementing object 
+     *  that will consume Poses produced by the PhotonVision resource.
+     */
+    public void addPoseEstimateConsumer(Consumer<VisualPose> consumer) {
+        poseEstimateConsumers.add(consumer);
+    }
 }

src/main/java/frc/robot/subsystems/Shooter.java

@@ -1,11 +1,13 @@
 package frc.robot.subsystems;
 
 import java.util.Optional;
+import java.util.function.DoubleSupplier;
 
 import org.littletonrobotics.junction.Logger;
 
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
 import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.SparkMax;
@@ -18,102 +20,101 @@ import frc.robot.constants.ShooterConstants;
 import frc.robot.constants.ShooterConstants.ShooterSpeeds;
 
 public class Shooter extends SubsystemBase {
-    private SparkMax frontMotor1;
+    private SparkMax leftMotor;
-    private SparkMax frontMotor2;
+    private SparkMax rightMotor;
-    private SparkMax rearMotor1;
-    private SparkMax rearMotor2;
 
-    private AbsoluteEncoder frontEncoder;
+    private AbsoluteEncoder leftEncoder;
-    private AbsoluteEncoder rearEncoder;
+    private AbsoluteEncoder rightEncoder;
 
-    private SparkClosedLoopController frontClosedLoopController;
+    private RelativeEncoder rightRelative;
-    private SparkClosedLoopController rearClosedLoopController;
+
+    private SparkClosedLoopController leftClosedLoopController;
+    private SparkClosedLoopController rightClosedLoopController;
 
     private ShooterSpeeds targetSpeeds;
 
     public Shooter() {
-        frontMotor1 = new SparkMax(ShooterConstants.kFrontShooterMotor1CANID, MotorType.kBrushless);
+        leftMotor = new SparkMax(ShooterConstants.kLeftShooterMotorCANID, MotorType.kBrushless);
-        frontMotor2 = new SparkMax(ShooterConstants.kFrontShooterMotor2CANID, MotorType.kBrushless);
+        rightMotor = new SparkMax(ShooterConstants.kRightShooterMotorCANID, MotorType.kBrushless);
-        rearMotor1 = new SparkMax(ShooterConstants.kRearShooterMotor1CANID, MotorType.kBrushless);
-        rearMotor2 = new SparkMax(ShooterConstants.kRearShooterMotor2CANID, MotorType.kBrushless);
 
-        frontMotor1.configure(
+        leftMotor.configure(
-            ShooterConstants.kFrontMotor1Config, 
+            ShooterConstants.kLeftMotorConfig, 
             ResetMode.kResetSafeParameters, 
             PersistMode.kPersistParameters
         );
 
-        rearMotor1.configure(
+        rightMotor.configure(
-            ShooterConstants.kRearMotor1Config, 
+            ShooterConstants.kRightMotorConfig, 
             ResetMode.kResetSafeParameters, 
             PersistMode.kPersistParameters
         );
 
-        frontMotor2.configure(
+        leftEncoder = leftMotor.getAbsoluteEncoder();
-            ShooterConstants.kFrontMotor2Config, 
+        rightEncoder = rightMotor.getAbsoluteEncoder();
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
 
-        rearMotor2.configure(
+        leftClosedLoopController = leftMotor.getClosedLoopController();
-            ShooterConstants.kRearMotor2Config, 
+        rightClosedLoopController = rightMotor.getClosedLoopController();
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        frontEncoder = frontMotor1.getAbsoluteEncoder();
-        rearEncoder = rearMotor1.getAbsoluteEncoder();
-
-        frontClosedLoopController = frontMotor1.getClosedLoopController();
-        rearClosedLoopController = rearMotor1.getClosedLoopController();
 
         // TODO Set this to the initial startup speed
         targetSpeeds = null;
+
+        rightRelative = rightMotor.getEncoder();
     }
 
     @Override
     public void periodic() {
         Logger.recordOutput(
-            "Shooter/FrontRollers/TargetMPS", 
+            "Shooter/TargetRPM", 
-            targetSpeeds == null ? 0 : targetSpeeds.getFrontRollerMPS()
+            targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM()
         );
 
-        Logger.recordOutput(
+        Logger.recordOutput("Shooter/LeftRollers/CurrentRPM", leftEncoder.getVelocity());
-            "Shooter/RearRollers/TargetMPS", 
+        Logger.recordOutput("Shooter/RightRollers/CurrentRPM", rightEncoder.getVelocity());
-            targetSpeeds == null ? 0 : targetSpeeds.getRearRollerMPS()
+
-        );
+        Logger.recordOutput("Shooter/RightRollers/rightmotor", rightRelative.getVelocity());
 
-        Logger.recordOutput("Shooter/FrontRollers/CurrentMPS", frontEncoder.getVelocity());
-        Logger.recordOutput("Shooter/RearRollers/CurrentMPS", rearEncoder.getVelocity());
 
         // TODO How does the SparkMAX controller determine "at setpoint"? Is there any tolerance?
-        Logger.recordOutput("Shooter/FrontRollers/AtSetpoint", frontClosedLoopController.isAtSetpoint());
+        Logger.recordOutput("Shooter/LeftRollers/AtSetpoint", leftClosedLoopController.isAtSetpoint());
-        Logger.recordOutput("Shooter/RearRollers/AtSetpoint", rearClosedLoopController.isAtSetpoint());
+        Logger.recordOutput("Shooter/RightRollers/AtSetpoint", rightClosedLoopController.isAtSetpoint());
     }
 
     public Command maintainSpeed(ShooterSpeeds speeds) {
+        return run(() -> {
             targetSpeeds = speeds;
 
-        return run(() -> {
             if(targetSpeeds == null) {
-                frontMotor1.disable();
+                leftMotor.disable();
-                rearMotor1.disable();
+                rightMotor.disable();
             } else {
-                frontClosedLoopController.setSetpoint(
+                leftClosedLoopController.setSetpoint(
-                    targetSpeeds.getFrontRollerMPS(), 
+                    targetSpeeds.getSpeedRPM(), 
                     ControlType.kVelocity
                 );
 
-                rearClosedLoopController.setSetpoint(
+                rightClosedLoopController.setSetpoint(
-                    targetSpeeds.getRearRollerMPS(), 
+                    targetSpeeds.getSpeedRPM(), 
                     ControlType.kVelocity
                 );
             }
         });
     }
 
+    public Command manualSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            targetSpeeds = null;
+            
+            leftMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
+            rightMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
+        });
+    }
+
     public Command stop() {
-        return maintainSpeed(null);
+        return manualSpeed(() -> 0);
+    }
+
+    public double getAverageActualSpeeds() {
+        return (leftEncoder.getVelocity() + rightEncoder.getVelocity()) / 2;
     }
 
     public Optional<ShooterSpeeds> getTargetSpeeds() {

src/main/java/frc/robot/subsystems/Spindexer.java

@@ -37,15 +37,19 @@ public class Spindexer extends SubsystemBase {
 
     public Command spinToShooter() {
         return run(() -> {
-            spindexerMotor.setControl(spindexerMotorOutput.withOutput(1));
+            spindexerMotor.setControl(
-            feederMotor.set(1);
+                spindexerMotorOutput.withOutput(SpindexerConstants.kSpindexerSpeed)
+            );
+            feederMotor.set(SpindexerConstants.kFeederSpeed);
         });
     }
 
     public Command spinToIntake() {
         return run(() -> {
-            spindexerMotor.setControl(spindexerMotorOutput.withOutput(-1));
+            spindexerMotor.setControl(
-            feederMotor.set(-1);
+                spindexerMotorOutput.withOutput(-SpindexerConstants.kSpindexerSpeed)
+            );
+            feederMotor.set(-SpindexerConstants.kFeederSpeed);
         });
     }
 

src/main/java/frc/robot/utilities/SparkMAXTester.java

@@ -8,13 +8,27 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+/**
+ * A simple subsystem that can be used to test a single SparkMax and associated NEO motor
+ */
 public class SparkMAXTester extends SubsystemBase {
     private SparkMax spark;
 
+    /**
+     * Constructor
+     * 
+     * @param deviceID The CAN ID of the SparkMAX that needs testing
+     */
     public SparkMAXTester(int deviceID) {
         spark = new SparkMax(deviceID, MotorType.kBrushless);
     }
 
+    /**
+     * Sets the speed of the motor
+     * 
+     * @param speed A method or lambda which returns a double between -1 and 1
+     * @return A Command object that runs indefinitely to control motor speed
+     */
     public Command setSpeed(DoubleSupplier speed) {
         return run(() -> {
             spark.set(speed.getAsDouble());

src/main/java/frc/robot/utilities/SwerveModule.java

@@ -17,6 +17,7 @@ import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.AnalogEncoder;
 import frc.robot.constants.ModuleConstants;
+import frc.robot.constants.ModuleConstants.ModuleName;
 
 /*
  * This thread
@@ -30,6 +31,8 @@ import frc.robot.constants.ModuleConstants;
  * the controller closed loop controller. 
  */
 public class SwerveModule {
+    private ModuleName moduleName;
+
     private TalonFX drive;
     private SparkMax turning;
 
@@ -41,8 +44,6 @@ public class SwerveModule {
 
     private VelocityVoltage driveVelocityRequest;
 
-    private String moduleName;
-
     private SwerveModuleState lastTargetState;
     private SwerveModuleState lastTargetStateOptimized;
 
@@ -59,7 +60,7 @@ public class SwerveModule {
      * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
      * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
      */
-    public SwerveModule(String moduleName, int drivingCANID, int turningCANID) {
+    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID) {
         this(moduleName, drivingCANID, turningCANID, -1, -1);
     }
 
@@ -73,7 +74,7 @@ public class SwerveModule {
      * @param analogEncoderID The Analog In port ID for the Thrify Absolute Encoder
      * @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module 
      */
-    public SwerveModule(String moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
+    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
         this(moduleName, drivingCANID, turningCANID, analogEncoderID, analogEncoderOffset, false);
     }
 
@@ -88,7 +89,7 @@ public class SwerveModule {
      * @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module 
      * @param turningEncoderAutoRezeroEnabled Should the turning encoder in the NEO automatically rezero from the absolute encoder
      */
-    public SwerveModule(String moduleName, int drivingCANID, int turningCANID, 
+    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID, 
         int analogEncoderID, double analogEncoderOffset, boolean turningEncoderAutoRezeroEnabled) {
         isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
 
@@ -130,21 +131,23 @@ public class SwerveModule {
 
         this.turningEncoderAutoRezeroEnabled = turningEncoderAutoRezeroEnabled;
 
-        this.moduleName = "Drivetrain/Modules/" + moduleName;
+        this.moduleName = moduleName;
     }
 
     public void periodic() {
         
         if(!isAbsoluteEncoderDisabled) {
-            Logger.recordOutput(moduleName + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
+            Logger.recordOutput(moduleName.getLoggableName() + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
         }
         
-        Logger.recordOutput(moduleName + "/ModuleTargetState", lastTargetState);
+        Logger.recordOutput(moduleName.getLoggableName() + "/ModuleTargetState", lastTargetState);
-        Logger.recordOutput(moduleName + "/ModuleTargetStateOptimized", lastTargetStateOptimized);
+        Logger.recordOutput(moduleName.getLoggableName() + "/ModuleTargetStateOptimized", lastTargetStateOptimized);
-        Logger.recordOutput(moduleName + "/SwerveModuleState", getState());
+        Logger.recordOutput(moduleName.getLoggableName() + "/SwerveModuleState", getState());
-        Logger.recordOutput(moduleName + "/SwerveModulePosition", getPosition());
+        Logger.recordOutput(moduleName.getLoggableName() + "/SwerveModulePosition", getPosition());
-        Logger.recordOutput(moduleName + "/RelativeEncoderPosition", getTurningEncoderPosition());
+        Logger.recordOutput(moduleName.getLoggableName() + "/RelativeEncoderPosition", getTurningEncoderPosition());
 
+        // TODO Re-enable this? Was turned off when there was drivetrain issues
+        // Now that there aren't, do we try this again?
         /*
         if(!isAbsoluteEncoderDisabled && turningEncoderAutoRezeroEnabled) {
             if(Math.abs(getState().angle.getRadians() - lastTargetState.angle.getRadians()) <= ModuleConstants.kAutoResetPositionDeadband) {
@@ -153,6 +156,10 @@ public class SwerveModule {
         }*/
     }
 
+    public ModuleName getModuleName() {
+        return moduleName;
+    }
+
     public SwerveModuleState getState() {
         return new SwerveModuleState(
             drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters, 
@@ -174,9 +181,7 @@ public class SwerveModule {
 
     public void setDesiredState(SwerveModuleState desiredState) {
         lastTargetState = new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
-        // TODO is this really necessary, the offset is managed by the Absolute Encoder
+        
-        // and its "source of truth" behavior in relation to the relative encoder
-        // Probably doesn't *hurt* that it's here, but it may not be needed
         desiredState.optimize(new Rotation2d(getTurningEncoderPosition()));
 
         lastTargetStateOptimized = desiredState;

src/main/java/frc/robot/utilities/Utilities.java

@@ -1,11 +1,22 @@
 package frc.robot.utilities;
 
+import java.util.Optional;
+
+import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import frc.robot.constants.CompetitionConstants;
 
 public class Utilities {
     public static final double kG = -9.81;
     
+    /**
+     * Returns the Alliance enumeration that indicates who will have the first
+     * shift. Returns null if the data is not available. 
+     * 
+     * @return The Alliance that will have the first shift, or null if game specific data
+     *  is not present
+     */
     public static Alliance whoHasFirstShift() {
         String gameData = DriverStation.getGameSpecificMessage();
 
@@ -23,6 +34,40 @@ public class Utilities {
         return null;
     }
 
+    /**
+     * Returns the pose of the hub for the given alliance assigned to our robot.
+     * If no alliance is assigned (which is unlikely) this method returns
+     * the Blue hub pose, which is the closet to the field origin
+     * 
+     * @return The Pose2d object which represents the appropriate pose of the Hub
+     */
+    public static Pose2d getHubPose() {
+        Optional<Alliance> alliance = DriverStation.getAlliance();
+
+        if(alliance.isEmpty() || alliance.get() == Alliance.Blue) {
+            return CompetitionConstants.kBlueHubLocation;
+        } else {
+            return CompetitionConstants.kRedHubLocation;
+        }
+    }
+
+    /**
+     * Returns the AprilTag ID of the tag that is in the center of the hub
+     * for the robot's assigned alliance. If no alliance is assigned (which is unlikely)
+     * the Blue hub's center tag is returned. 
+     * 
+     * @return The tag ID that is in the center of the assigned alliance's hub
+     */
+    public static int getHubCenterAprilTagID() {
+        Optional<Alliance> alliance = DriverStation.getAlliance();
+
+        if(alliance.isEmpty() || alliance.get() == Alliance.Blue) {
+            return 26;
+        } else {
+            return 10;
+        }
+    }
+
     /**
      * A ChatGPT possible hallucination related to calcuating whether a shot is possible
      * for a given speed and change in X and Y position
@@ -30,8 +75,6 @@ public class Utilities {
      * Note that X in this scenario is the physical distance from the shooter exit to 
      * target. Y is the change in height from the shooter exit to the target height
      * 
-     * TODO Review ChatGPT's math more thoroughly, preferably with someone with fresher math skills
-     * 
      * @param targetVMPS The target velocity of the shooter in Meters per Second
      * @param deltaXM The "as the crow flies" distance between the shooter exit and the target
      * @param deltaYM The height difference between the shooter exit and the target
@@ -52,8 +95,6 @@ public class Utilities {
      * Setting softerShot to true changes the angle of attack to a soft, long range shot. False
      * makes the shot more of a lob
      * 
-     * TODO Review ChatGPT's math more thoroughly, preferably with someone with fresher math skills
-     * 
      * @param targetVMPS The target velocity of the shooter in Meters per Second
      * @param deltaXM The "as the crow flies" distance between the shooter exit and the target
      * @param deltaYM The height difference between the shooter exit and the target

src/main/java/frc/robot/utilities/VisualPose.java

@@ -0,0 +1,9 @@
+package frc.robot.utilities;
+
+import edu.wpi.first.math.geometry.Pose2d;
+
+/**
+ * A record class which represents the source of a visual pose, the pose itself
+ * and the timestamp the pose was generated. 
+ */
+public record VisualPose(String cameraName, Pose2d visualPose, double timestamp) {}