From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 20 Feb 2026 21:40:19 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=6a43a4bd20c75a3cb2e861f2342327db7ae838ec;p=FRC2026.git

a
---

diff --git a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
index 90f5c8a..2505958 100644
--- a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
+++ b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
@@ -21,7 +21,7 @@ import frc.robot.subsystems.hood.Hood;
 import frc.robot.subsystems.hood.HoodConstants;
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.subsystems.spindexer.Spindexer;
-import frc.robot.subsystems.turret.ShotInterpolation;
+import frc.robot.constants.ShotInterpolation;
 import frc.robot.subsystems.turret.Turret;
 import frc.robot.subsystems.turret.TurretConstants;
 import frc.robot.util.ShooterPhysics;
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
index e69de29..61f94c1 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
@@ -0,0 +1,15 @@
+package frc.robot.subsystems.Intake;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface IntakeIO {
+    @AutoLog
+    public static class IntakeIOInputs{
+        public static double leftPosition = 0.0;
+        public static double rightPosition = 0.0;
+        public static double leftCurrent = 0.0;
+        public static double rightCurrent = 0.0;
+    }
+
+    public void updateInputs();
+}
diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java
index d116ab4..66aef05 100644
--- a/src/main/java/frc/robot/subsystems/hood/Hood.java
+++ b/src/main/java/frc/robot/subsystems/hood/Hood.java
@@ -19,7 +19,7 @@ import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
 
 public class Hood extends SubsystemBase implements HoodIO{
-    private TalonFX motor = new TalonFX(IdConstants.HOOD_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
+    private TalonFX motor = new TalonFX(IdConstants.HOOD_ID, Constants.CANIVORE_SUB);
 
 	private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.02, 0.02);
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 2e4423a..076e8fe 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -19,8 +19,8 @@ import frc.robot.constants.IdConstants;
 
 public class Shooter extends SubsystemBase implements ShooterIO {
     
-    private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
-    private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
+    private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.CANIVORE_SUB);
+    private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.CANIVORE_SUB);
 
     // Goal Velocity / Double theCircumfrence
     private double shooterTargetSpeed = 0;
diff --git a/src/main/java/frc/robot/subsystems/turret/ShotInterpolation.java b/src/main/java/frc/robot/subsystems/turret/ShotInterpolation.java
deleted file mode 100644
index 98398e1..0000000
--- a/src/main/java/frc/robot/subsystems/turret/ShotInterpolation.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package frc.robot.subsystems.turret;
-
-import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
-import edu.wpi.first.math.util.Units;
-
-public class ShotInterpolation {
-    public static final InterpolatingDoubleTreeMap timeOfFlightMap = new InterpolatingDoubleTreeMap();
-    public static final InterpolatingDoubleTreeMap shooterPowerMap = new InterpolatingDoubleTreeMap();
-    public static final InterpolatingDoubleTreeMap hoodAngleMap = new InterpolatingDoubleTreeMap();
-    
-    public static final InterpolatingDoubleTreeMap exitVelocityMap = new InterpolatingDoubleTreeMap();
-
-    static{
-        timeOfFlightMap.put(0.0, 0.67);
-        timeOfFlightMap.put(1.0, 0.67);
-
-        shooterPowerMap.put(0.0, 1.0);
-        shooterPowerMap.put(1.0, 1.0);
-
-        hoodAngleMap.put(0.0, Units.degreesToRadians(90));
-        hoodAngleMap.put(1.0, Units.degreesToRadians(90));
-
-        //TODO: find actual values from video motion
-        exitVelocityMap.put(1.0, 2.0);
-        exitVelocityMap.put(2.0, 4.0);
-    }
-}
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 9bd0ef8..c9cffb0 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -32,9 +32,9 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 	/* ---------------- Hardware ---------------- */
 
-	private final TalonFX motor = new TalonFX(IdConstants.TURRET_MOTOR_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
-	private final CANcoder encoderLeft = new CANcoder(IdConstants.TURRET_ENCODER_LEFT_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
-    private final CANcoder encoderRight = new CANcoder(IdConstants.TURRET_ENCODER_RIGHT_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
+	private final TalonFX motor = new TalonFX(IdConstants.TURRET_MOTOR_ID, Constants.CANIVORE_SUB);
+	private final CANcoder encoderLeft = new CANcoder(IdConstants.TURRET_ENCODER_LEFT_ID, Constants.CANIVORE_SUB);
+    private final CANcoder encoderRight = new CANcoder(IdConstants.TURRET_ENCODER_RIGHT_ID, Constants.CANIVORE_SUB);
 
 	private TalonFXSimState simState;
 	private SingleJointedArmSim turretSim;