Merge branch 'tuning' of https://git.coldlightalchemist.com/Team_2648/2026-Robot-Code into tuning

Placement of where a value was set was wrong
one shooter good
2026-03-01 16:38:07 -05:00 · 2026-03-01 16:36:06 -05:00 · 2026-03-01 15:56:55 -05:00 · 2026-03-01 14:50:55 -05:00 · 2026-03-01 13:58:39 -05:00 · 2026-02-28 17:42:37 -05:00
27 changed files with 1392 additions and 564 deletions
--- a/src/main/deploy/pathplanner/paths/My
+++ b/src/main/deploy/pathplanner/paths/My
@@ -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
+}
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.921,
+  "robotLength": 0.787,
  "holonomicMode": true,
  "pathFolders": [],
  "autoFolders": [],
@@ -9,24 +9,26 @@
  "defaultMaxAngVel": 540.0,
  "defaultMaxAngAccel": 720.0,
  "defaultNominalVoltage": 12.0,
-  "robotMass": 74.088,
-  "robotMOI": 6.883,
+  "robotMass": 64.864,
+  "robotMOI": 37.809,
  "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.048,
-  "driveGearing": 5.143,
-  "maxDriveSpeed": 5.45,
+  "driveWheelRadius": 0.051,
+  "driveGearing": 6.122,
+  "maxDriveSpeed": 4.66,
  "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 60.0,
+  "driveCurrentLimit": 65.0,
  "wheelCOF": 1.2,
-  "flModuleX": 0.273,
-  "flModuleY": 0.273,
-  "frModuleX": 0.273,
-  "frModuleY": -0.273,
-  "blModuleX": -0.273,
-  "blModuleY": 0.273,
-  "brModuleX": -0.273,
-  "brModuleY": -0.273,
+  "flModuleX": 0.238,
+  "flModuleY": 0.3015,
+  "frModuleX": 0.238,
+  "frModuleY": -0.3015,
+  "blModuleX": -0.238,
+  "blModuleY": 0.3015,
+  "brModuleX": -0.238,
+  "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}}"
+  ]
 }
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/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;
@@ -15,117 +24,367 @@ 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 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 driver;
+    private CommandXboxController secondary;

-  private SendableChooser<Command> autoChooser;
+    private SendableChooser<Command> autoChooser;

-  private Timer shiftTimer;
+    private Timer shiftTimer;

-  public RobotContainer() {
-    vision = new PhotonVision();
-    drivetrain = new Drivetrain();
+    public RobotContainer() {
+        //vision = new PhotonVision();
+        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(drivetrain::consumeVisualPose);
+        vision.addPoseEstimateConsumer((vp) -> {
+            Logger.recordOutput(
+                "Vision/" + vp.cameraName() + "/Pose", 
+                vp.visualPose()
+            );
+        });*/

-    driver = new CommandXboxController(OIConstants.kDriverControllerPort);
+        driver = new CommandXboxController(OIConstants.kDriverControllerPort);
+        secondary = new CommandXboxController(OIConstants.kOperatorControllerPort);

-    shiftTimer = new Timer();
-    shiftTimer.reset();
+        shiftTimer = new Timer();
+        shiftTimer.reset();

-    configureBindings();
-  }
+        //configureBindings();
+        testConfigureBindings();
+        configureShiftDisplay();

-  private void configureBindings() {
-    drivetrain.setDefaultCommand(
-      drivetrain.drive(
-        driver::getLeftY,
-        driver::getLeftX, 
-        driver::getRightX, 
-        () -> false
-      )
-    );
-
-    driver.start().and(driver.x()).whileTrue(drivetrain.runFrontLeft(1, 0));
-    driver.start().and(driver.y()).whileTrue(drivetrain.runFrontRight(1, 0));
-    driver.start().and(driver.a()).whileTrue(drivetrain.runRearLeft(1, 0));
-    driver.start().and(driver.b()).whileTrue(drivetrain.runRearRight(1, 0));
-    driver.start().negate().and(driver.x()).whileTrue(drivetrain.runFrontLeft(0, 45));
-    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());
-
-    configureShiftDisplay();
-  }
-
-  public Command getAutonomousCommand() {
-    if(AutoConstants.kAutoConfigOk) {
-      return autoChooser.getSelected();
-    } else {
-      return new PrintCommand("Robot Config loading failed, autonomous disabled");
+        if(AutoConstants.kAutoConfigOk) {
+            autoChooser = AutoBuilder.buildAutoChooser();
+            configureNamedCommands();
+        }
    }
-  }

-  private void configureShiftDisplay() {
-    SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+    /**
+     * 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
+            )
+        );

-    RobotModeTriggers.autonomous().onTrue(new InstantCommand(() -> {
-      shiftTimer.stop();
-      SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
-    }));
+        // 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
+            ) 
+        );

-    RobotModeTriggers.teleop().onTrue(new InstantCommand(() -> {
-      Elastic.selectTab(OIConstants.kTeleopTab);
-      shiftTimer.reset();
-      shiftTimer.start();
-    }));
+        // 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());

-    new Trigger(() -> shiftTimer.get() <= 10).onTrue(new InstantCommand(() -> {
-      SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
-    }));
+                    return maybeYaw.isEmpty() ? 0 : maybeYaw.getAsDouble();
+                }, 
+                driver::getLeftY, 
+                driver::getLeftX
+            )
+        );*/

-    new Trigger(() -> shiftTimer.get() > 10 && shiftTimer.get() <= 35).onTrue(new InstantCommand(() -> {
-      SmartDashboard.putStringArray(
-        OIConstants.kCurrentActiveHub, 
-        Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
-      );
-    }));
+        // 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());

-    new Trigger(() -> shiftTimer.get() > 35 && shiftTimer.get() <= 60).onTrue(new InstantCommand(() -> {
-      SmartDashboard.putStringArray(
-        OIConstants.kCurrentActiveHub, 
-        Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
-      );
-    }));
+        // 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();
+        //}));

-    new Trigger(() -> shiftTimer.get() > 60 && shiftTimer.get() <= 85).onTrue(new InstantCommand(() -> {
-      SmartDashboard.putStringArray(
-        OIConstants.kCurrentActiveHub, 
-        Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
-      );
-    }));
+        // 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(
+            //intakeRoller.runIn().alongWith(spindexer.spinToShooter())
+            spindexer.spinToShooter()
+        );

-    new Trigger(() -> shiftTimer.get() > 85 && shiftTimer.get() <= 110).onTrue(new InstantCommand(() -> {
-      SmartDashboard.putStringArray(
-        OIConstants.kCurrentActiveHub, 
-        Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
-      );
-    }));
+        // 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.runOut().alongWith(spindexer.spinToIntake())
+        );

-    new Trigger(() -> shiftTimer.get() > 110).onTrue(new InstantCommand(() -> {
-      SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
-    }));
-  }
+        // 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));
+
+        // TODO Some means of testing hood PIDF
+        // TODO Some means of testing climber PIDF
+    }
+  
+    private void configureBindings() {
+        drivetrain.setDefaultCommand(
+            drivetrain.drive(
+                driver::getLeftY,
+                driver::getLeftX, 
+                driver::getRightX, 
+                () -> true
+            )
+        );
+
+        driver.a().whileTrue(
+            drivetrain.lockRotationToHub(
+                driver::getLeftY, 
+                driver::getLeftX, 
+                false
+            ) 
+        );
+
+        /*
+        driver.b().whileTrue(
+            drivetrain.lockToYaw(
+                () -> {
+                    OptionalDouble maybeYaw = vision.getBestYawForTag(Utilities.getHubCenterAprilTagID());
+
+                    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() {
+        if(AutoConstants.kAutoConfigOk) {
+            return autoChooser.getSelected();
+        } else {
+            return new PrintCommand("Robot Config loading failed, autonomous disabled");
+        }
+    }
+
+    /**
+     * 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);
+        
+        RobotModeTriggers.autonomous().onTrue(new InstantCommand(() -> {
+            shiftTimer.stop();
+            SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+        }));
+
+        RobotModeTriggers.teleop().onTrue(new InstantCommand(() -> {
+            Elastic.selectTab(OIConstants.kTeleopTab);
+            shiftTimer.reset();
+            shiftTimer.start();
+        }));
+
+        new Trigger(() -> shiftTimer.get() <= 10).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 10 && shiftTimer.get() <= 35).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(
+                OIConstants.kCurrentActiveHub, 
+                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
+            );
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 35 && shiftTimer.get() <= 60).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(
+                OIConstants.kCurrentActiveHub, 
+                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
+            );
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 60 && shiftTimer.get() <= 85).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(
+                OIConstants.kCurrentActiveHub, 
+                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
+            );
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 85 && shiftTimer.get() <= 110).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(
+                OIConstants.kCurrentActiveHub, 
+                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
+            );
+        }));
+
+        new Trigger(() -> shiftTimer.get() > 110).onTrue(new InstantCommand(() -> {
+            SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
+        }));
+    }
 }
--- a/src/main/java/frc/robot/constants/AutoConstants.java
+++ b/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;

--- a/src/main/java/frc/robot/constants/ClimberConstants.java
+++ b/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);
+    }
+}
--- a/src/main/java/frc/robot/constants/CompetitionConstants.java
+++ b/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)
+    );
+
 }
--- a/src/main/java/frc/robot/constants/DrivetrainConstants.java
+++ b/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 = 4.125;
+    public static final double kMaxSpeedMetersPerSecond = 4.663;
    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 kFrontRightTurningCANID = 9;
-    public static final int kRearLeftTurningCANID = 7;
-    public static final int kRearRightTurningCANID = 6;
+    public static final int kFrontLeftTurningCANID = 7; // 8
+    public static final int kFrontRightTurningCANID = 21; //9
+    public static final int kRearLeftTurningCANID = 6; //7
+    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),
--- a/src/main/java/frc/robot/constants/HoodConstants.java
+++ b/src/main/java/frc/robot/constants/HoodConstants.java
@@ -1,12 +1,23 @@
 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.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 kConversionFactor = 3.0*147.0/8.0;

    public static final double kP = 0;
    public static final double kI = 0;
@@ -15,13 +26,24 @@ public class HoodConstants {
    public static final double kV = 0;
    public static final double kA = 0;
    public static final double kStartupAngle = 0;
+    public static final double kMaxManualSpeedMultiplier = 1;
+
+    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 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 +53,37 @@ 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)
-            .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
+            }
+        }
    }
 }
--- a/src/main/java/frc/robot/constants/IntakePivotConstants.java
+++ b/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),
-        kDown(0);
+        kUp(Math.toRadians(116.0)),
+        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 kRightMotorCANID = 1;
+    public static final int kLeftMotorCANID = 16;
+    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 kA = 0;
+    public static final double kV = 5.26;
+    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)
--- a/src/main/java/frc/robot/constants/IntakeRollerConstants.java
+++ b/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 kRightMotorCANID = 0;
+    public static final int kMotorCANID = 20;

-    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);
    }
 }
--- a/src/main/java/frc/robot/constants/ModuleConstants.java
+++ b/src/main/java/frc/robot/constants/ModuleConstants.java
@@ -14,6 +14,24 @@ 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);

--- a/src/main/java/frc/robot/constants/ShooterConstants.java
+++ b/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),
-        kFeedSpeed(0, 0);
+        kHubSpeed(3000.0),
+        kFeedSpeed(3000.0);

-        private double frontRollerMPS;
-        private double rearRollerMPS;
+        private double speedMPS;
+        private double speedRPM;

-        private ShooterSpeeds(double frontRollerMPS, double rearRollerMPS) {
-            this.frontRollerMPS = frontRollerMPS;
-            this.rearRollerMPS = rearRollerMPS;
+        private ShooterSpeeds(double speedRPM) {
+            this.speedMPS = speedRPM * kWheelDiameter*Math.PI;
+            this.speedRPM = speedRPM;
        }

-        public double getFrontRollerMPS() {
-            return frontRollerMPS;
+        public double getSpeedMPS() {
+            return speedMPS * kWheelDiameter*Math.PI;
        }

-        public double getRearRollerMPS() {
-            return rearRollerMPS;
+        public double getSpeedRPM(){
+            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 kFrontShooterMotor2CANID = 0;
-    public static final int kRearShooterMotor1CANID = 0;
-    public static final int kRearShooterMotor2CANID = 0;
+    public static final int kLeftShooterMotorCANID = 2;
+    public static final int kRightShooterMotorCANID = 5;

-    public static final boolean kFrontShooterMotor1Inverted = false;
-    public static final boolean kFrontShooterMotor2Inverted = false;
-    public static final boolean kRearShooterMotor1Inverted = false;
-    public static final boolean kRearShooterMotor2Inverted = false;
+    public static final boolean kLeftShooterMotorInverted = true;
+    public static final boolean kRightShooterMotorInverted = false;

-    public static final double kFrontP = 0;
-    public static final double kFrontI = 0;
-    public static final double kFrontD = 0;
-    public static final double kFrontS = 0;
-    public static final double kFrontV = 0;
-    public static final double kFrontA = 0;
+    public static final double kLeftP = 0.0;//0.001;
+    public static final double kLeftI = 0;
+    public static final double kLeftD = 0;
+    public static final double kLeftS = 0;
+    public static final double kLeftV = 0.00121;
+    public static final double kLeftA = 0;

-    public static final double kRearP = 0;
-    public static final double kRearI = 0;
-    public static final double kRearD = 0;
-    public static final double kRearS = 0;
-    public static final double kRearV = 0;
-    public static final double kRearA = 0;
+    public static final double kRightP = 0.001;//0.1;
+    public static final double kRightI = 0;
+    public static final double kRightD = 0.000;
+    public static final double kRightS = 0;
+    public static final double kRightV = 0.00121;
+    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 kFrontMotor2Config = new SparkMaxConfig();
-    public static final SparkMaxConfig kRearMotor1Config = new SparkMaxConfig();
-    public static final SparkMaxConfig kRearMotor2Config = new SparkMaxConfig();
+    public static final SparkMaxConfig kLeftMotorConfig = new SparkMaxConfig();
+    public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();


    static {
-        kFrontMotor1Config
+        kLeftMotorConfig
            .idleMode(kShooterIdleMode)
            .smartCurrentLimit(kCurrentLimit)
-            .inverted(kFrontShooterMotor1Inverted);
-        kFrontMotor1Config.absoluteEncoder
-            .positionConversionFactor(kWheelDiameter * Math.PI)
-            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
-        kFrontMotor1Config.closedLoop
+            .inverted(kLeftShooterMotorInverted);
+        kLeftMotorConfig.absoluteEncoder
+            .positionConversionFactor(1)
+            .velocityConversionFactor(60);
+        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)
-            .follow(kFrontShooterMotor1CANID);
-
-        kRearMotor1Config
-            .idleMode(kShooterIdleMode)
-            .smartCurrentLimit(kCurrentLimit)
-            .inverted(kRearShooterMotor1Inverted);
-        kRearMotor1Config.absoluteEncoder
-            .positionConversionFactor(kWheelDiameter * Math.PI)
-            .velocityConversionFactor(kWheelDiameter * Math.PI / 60);
-        kRearMotor1Config.closedLoop
+            .inverted(kRightShooterMotorInverted);
+        kRightMotorConfig.absoluteEncoder
+            .positionConversionFactor(1)
+            .velocityConversionFactor(60)
+            .inverted(true);
+        kRightMotorConfig.closedLoop
            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
-            .pid(kRearP, kRearI, kRearD)
+            .pid(kRightP, kRightI, kRightD)
            .outputRange(-1, 1)
            .feedForward
-                .sva(kRearS, kRearV, kRearA);
-
-        kRearMotor2Config
-            .idleMode(kShooterIdleMode)
-            .smartCurrentLimit(kCurrentLimit)
-            .inverted(kRearShooterMotor2Inverted)
-            .follow(kRearShooterMotor1CANID);
+                .sva(kRightS, kRightV, kRightA);
    }
 }
--- a/src/main/java/frc/robot/constants/SpindexerConstants.java
+++ b/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 kSpindexerSupplyCurrentLimit = 30;
-    public static final int kFeederCurrentLimit = 30;
+    public static final int kSpindexerStatorCurrentLimit = 110;
+    public static final int kSpindexerSupplyCurrentLimit = 60;
+    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;

--- a/src/main/java/frc/robot/interfaces/IAprilTagProvider.java
+++ b/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);
-}
--- a/src/main/java/frc/robot/interfaces/IVisualPoseProvider.java
+++ b/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();
-}
--- a/src/main/java/frc/robot/subsystems/Climber.java
+++ b/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);
+    }
+}
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/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 PhotonVision camera2;
+    private PIDController yawRotationController;

-    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)));
-        });
-    }
-    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)));
+                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) {
-        if (camera1 == null) {
-            return new PrintCommand("Camera 1 not available");
-        }
+    /**
+     * Rotates the robot to a face a given Pose2d position on the field
+     * 
+     * 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(
-            AutoConstants.kPThetaController, 
-            0, 
-            0
+    /**
+     * Locks the robots rotation to face the Alliance Hub on the field. 
+     * 
+     * This method is innately aware of which hub to face based on the assigned alliance color.
+     * 
+     * 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) {
@@ -314,7 +408,11 @@ 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();
    }
 }
--- a/src/main/java/frc/robot/subsystems/Hood.java
+++ b/src/main/java/frc/robot/subsystems/Hood.java
@@ -4,57 +4,131 @@ 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();

        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/CurrentTarget", currentTargetDegrees);
        Logger.recordOutput("Hood/CurrentAngle", encoder.getPosition());
        Logger.recordOutput("Hood/AtSetpoint", controller.isAtSetpoint());
    }

-    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(() -> {
-            motor.disable();
-        });
+        return manualSpeed(() -> 0);
    }

-    public double getTargetRadians() {
-        return currentTargetRadians;
+    public double getTargetDegrees() {
+        return currentTargetDegrees;
    }
 }
--- a/src/main/java/frc/robot/subsystems/IntakePivot.java
+++ b/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) {
-        currentTargetPosition = position;
-
        return run(() -> {
+            currentTargetPosition = position;
+
            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() {
--- a/src/main/java/frc/robot/subsystems/IntakeRoller.java
+++ b/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 rightMotor;
+    private SparkMax motor;

    public IntakeRoller() {
-        leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
-        rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
+        motor = new SparkMax(IntakeRollerConstants.kMotorCANID, 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);
        });
    }
    
--- a/src/main/java/frc/robot/subsystems/PhotonVision.java
+++ b/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;
@@ -60,139 +75,131 @@ 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));
+                Optional<EstimatedRobotPose> pose = estimators[i].update(latestResults.get(i));

-            if(!pose.isEmpty()) {
-                VisualPose visualPose = new VisualPose(
-                    pose.get().estimatedPose.toPose2d(), 
-                    pose.get().timestampSeconds
-                );
+                if(!pose.isEmpty()) {
+                    VisualPose visualPose = new VisualPose(
+                        cameras[i].getName(),
+                        pose.get().estimatedPose.toPose2d(), 
+                        pose.get().timestampSeconds
+                    );

-                for(Consumer<VisualPose> consumer: poseEstimateConsumers) {
-                    consumer.accept(visualPose);
+                    for(Consumer<VisualPose> consumer: poseEstimateConsumers) {
+                        consumer.accept(visualPose);
+                    }
                }
            }
        }
    }

-    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();
-                })
-            );
+    /**
+     * 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 void addPoseEstimateConsumer(Consumer<VisualPose> consumer) {
-        poseEstimateConsumers.add(consumer);
-    }
+            for(PhotonTrackedTarget target: latestResults.get(cameraIndex).getTargets()) {
+                if(target.getFiducialId() != tagID || bestConfidence > target.getDetectedObjectConfidence()) {
+                    continue;
+                }

-    /*public Trigger tagPrescenseTrigger(int targetTag) {
-        return new Trigger(() -> {
-            return List.of(latestResults).stream()
-                .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()) {
-            return OptionalDouble.empty();
-        }
-
-        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);
+                config = PhotonConstants.configs.get(cameraIndex);
+                bestCameraToTarget = target.bestCameraToTarget;
+                bestConfidence = target.getDetectedObjectConfidence();
            }
        }

-        return Optional.empty();
-    }
-
-    @Override
-    public int[] getVisibleTagIDs() {
-        if(latestResult == null) {
-            return new int[] {};
+        if(bestCameraToTarget == null) {
+            return Optional.empty();
        }

-        return latestResult.getTargets().stream().mapToInt(PhotonTrackedTarget::getFiducialId).toArray();
+        // This is based on what PhotonVision does for multitag Pose estimation
+        // See PhotonPoseEstimator.multiTagOnCoprocStrategy
+        // TODO This doesn't currently account for the offset of the tag relative to say the hub
+        // 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()));
+    }
+
+    /**
+     * 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);
    }
-    */
 }
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/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 frontMotor2;
-    private SparkMax rearMotor1;
-    private SparkMax rearMotor2;
+    private SparkMax leftMotor;
+    private SparkMax rightMotor;

-    private AbsoluteEncoder frontEncoder;
-    private AbsoluteEncoder rearEncoder;
+    private AbsoluteEncoder leftEncoder;
+    private AbsoluteEncoder rightEncoder;

-    private SparkClosedLoopController frontClosedLoopController;
-    private SparkClosedLoopController rearClosedLoopController;
+    private RelativeEncoder rightRelative;
+
+    private SparkClosedLoopController leftClosedLoopController;
+    private SparkClosedLoopController rightClosedLoopController;

    private ShooterSpeeds targetSpeeds;

    public Shooter() {
-        frontMotor1 = new SparkMax(ShooterConstants.kFrontShooterMotor1CANID, MotorType.kBrushless);
-        frontMotor2 = new SparkMax(ShooterConstants.kFrontShooterMotor2CANID, MotorType.kBrushless);
-        rearMotor1 = new SparkMax(ShooterConstants.kRearShooterMotor1CANID, MotorType.kBrushless);
-        rearMotor2 = new SparkMax(ShooterConstants.kRearShooterMotor2CANID, MotorType.kBrushless);
+        leftMotor = new SparkMax(ShooterConstants.kLeftShooterMotorCANID, MotorType.kBrushless);
+        rightMotor = new SparkMax(ShooterConstants.kRightShooterMotorCANID, MotorType.kBrushless);

-        frontMotor1.configure(
-            ShooterConstants.kFrontMotor1Config, 
+        leftMotor.configure(
+            ShooterConstants.kLeftMotorConfig, 
            ResetMode.kResetSafeParameters, 
            PersistMode.kPersistParameters
        );

-        rearMotor1.configure(
-            ShooterConstants.kRearMotor1Config, 
+        rightMotor.configure(
+            ShooterConstants.kRightMotorConfig, 
            ResetMode.kResetSafeParameters, 
            PersistMode.kPersistParameters
        );

-        frontMotor2.configure(
-            ShooterConstants.kFrontMotor2Config, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
+        leftEncoder = leftMotor.getAbsoluteEncoder();
+        rightEncoder = rightMotor.getAbsoluteEncoder();

-        rearMotor2.configure(
-            ShooterConstants.kRearMotor2Config, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        frontEncoder = frontMotor1.getAbsoluteEncoder();
-        rearEncoder = rearMotor1.getAbsoluteEncoder();
-
-        frontClosedLoopController = frontMotor1.getClosedLoopController();
-        rearClosedLoopController = rearMotor1.getClosedLoopController();
+        leftClosedLoopController = leftMotor.getClosedLoopController();
+        rightClosedLoopController = rightMotor.getClosedLoopController();

        // TODO Set this to the initial startup speed
        targetSpeeds = null;
+
+        rightRelative = rightMotor.getEncoder();
    }

    @Override
    public void periodic() {
        Logger.recordOutput(
-            "Shooter/FrontRollers/TargetMPS", 
-            targetSpeeds == null ? 0 : targetSpeeds.getFrontRollerMPS()
+            "Shooter/TargetRPM", 
+            targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM()
        );

-        Logger.recordOutput(
-            "Shooter/RearRollers/TargetMPS", 
-            targetSpeeds == null ? 0 : targetSpeeds.getRearRollerMPS()
-        );
+        Logger.recordOutput("Shooter/LeftRollers/CurrentRPM", leftEncoder.getVelocity());
+        Logger.recordOutput("Shooter/RightRollers/CurrentRPM", rightEncoder.getVelocity());
+
+        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/RearRollers/AtSetpoint", rearClosedLoopController.isAtSetpoint());
+        Logger.recordOutput("Shooter/LeftRollers/AtSetpoint", leftClosedLoopController.isAtSetpoint());
+        Logger.recordOutput("Shooter/RightRollers/AtSetpoint", rightClosedLoopController.isAtSetpoint());
    }

    public Command maintainSpeed(ShooterSpeeds speeds) {
-        targetSpeeds = speeds;
-
        return run(() -> {
+            targetSpeeds = speeds;
+
            if(targetSpeeds == null) {
-                frontMotor1.disable();
-                rearMotor1.disable();
+                leftMotor.disable();
+                rightMotor.disable();
            } else {
-                frontClosedLoopController.setSetpoint(
-                    targetSpeeds.getFrontRollerMPS(), 
+                leftClosedLoopController.setSetpoint(
+                    targetSpeeds.getSpeedRPM(), 
                    ControlType.kVelocity
                );

-                rearClosedLoopController.setSetpoint(
-                    targetSpeeds.getRearRollerMPS(), 
+                rightClosedLoopController.setSetpoint(
+                    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() {
--- a/src/main/java/frc/robot/subsystems/Spindexer.java
+++ b/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));
-            feederMotor.set(1);
+            spindexerMotor.setControl(
+                spindexerMotorOutput.withOutput(SpindexerConstants.kSpindexerSpeed)
+            );
+            feederMotor.set(SpindexerConstants.kFeederSpeed);
        });
    }

    public Command spinToIntake() {
        return run(() -> {
-            spindexerMotor.setControl(spindexerMotorOutput.withOutput(-1));
-            feederMotor.set(-1);
+            spindexerMotor.setControl(
+                spindexerMotorOutput.withOutput(-SpindexerConstants.kSpindexerSpeed)
+            );
+            feederMotor.set(-SpindexerConstants.kFeederSpeed);
        });
    }

--- a/src/main/java/frc/robot/utilities/SparkMAXTester.java
+++ b/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());
--- a/src/main/java/frc/robot/utilities/SwerveModule.java
+++ b/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 + "/ModuleTargetStateOptimized", lastTargetStateOptimized);
-        Logger.recordOutput(moduleName + "/SwerveModuleState", getState());
-        Logger.recordOutput(moduleName + "/SwerveModulePosition", getPosition());
-        Logger.recordOutput(moduleName + "/RelativeEncoderPosition", getTurningEncoderPosition());
+        Logger.recordOutput(moduleName.getLoggableName() + "/ModuleTargetState", lastTargetState);
+        Logger.recordOutput(moduleName.getLoggableName() + "/ModuleTargetStateOptimized", lastTargetStateOptimized);
+        Logger.recordOutput(moduleName.getLoggableName() + "/SwerveModuleState", getState());
+        Logger.recordOutput(moduleName.getLoggableName() + "/SwerveModulePosition", getPosition());
+        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;
--- a/src/main/java/frc/robot/utilities/Utilities.java
+++ b/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
--- a/src/main/java/frc/robot/utilities/VisualPose.java
+++ b/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) {}
Author	SHA1	Message	Date
Bradley Bickford	db443cfe63	Merge branch 'tuning' of https://git.coldlightalchemist.com/Team_2648/2026-Robot-Code into tuning	2026-03-01 16:38:07 -05:00
Bradley Bickford	cbcfc9cab0	Placement of where a value was set was wrong	2026-03-01 16:36:06 -05:00
Tylr-J42	96fb68cb32	one shooter good	2026-03-01 15:56:55 -05:00
Tylr-J42	80ef3a3431	encoder weird	2026-03-01 14:50:55 -05:00
Tylr-J42	866e6b99df	shooter units off	2026-03-01 13:58:39 -05:00
Bradley Bickford	3791333f56	Work from build 2/28	2026-02-28 17:42:37 -05:00
Tylr-J42	7621cfd009	added values from calculations and cad.	2026-02-26 08:18:07 -05:00
Bradley Bickford	e2c2eaafc9	A little bit more hood stuff, adding a command to trigger the rezero functionality	2026-02-22 13:40:29 -05:00
Bradley Bickford	acf78b8ccd	A little bit more hood stuff, adding a command to trigger the rezero functionality	2026-02-22 13:40:14 -05:00
Bradley Bickford	678ff1a198	Adjustments to the hood now that I know we're going with relative not absolute encoders	2026-02-22 12:03:37 -05:00
Bradley Bickford	206abe5816	Beginnings of a climber subsystem	2026-02-19 12:08:36 -05:00
Bradley Bickford	8762e82078	More testing stuff	2026-02-18 18:27:26 -05:00
Bradley Bickford	958bc92ca0	Some additional PhotonVision/Drivetrain work, and a terrible auto path	2026-02-18 17:57:06 -05:00
Bradley Bickford	88c021f05e	A bit of work setting up bindings for testing robot features prior to deciding on final controls	2026-02-15 21:16:32 -05:00
Bradley Bickford	01b7e1b878	Removing an unnecessary todo	2026-02-15 14:51:54 -05:00
Bradley Bickford	701fbfc43e	Some minor changes, either reducing duplicate code, or generalizing code	2026-02-15 14:46:19 -05:00
Bradley Bickford	7f291e42a1	More PhotonVision work, a bunch of comments/docstrings	2026-02-14 22:05:29 -05:00
Bradley Bickford	91a5281202	A bunch of changes, mostly related to shooting balls at the hub dynamically, still need a means of doing this based on a single apriltag, in the event the robot pose is unreliable	2026-02-12 16:02:08 -05:00
Bradley Bickford	f8429dc899	Working on various auto lock on and some Auto stuff	2026-02-11 14:59:31 -05:00