Shooter Subsystem by Aadhya-Sure · Pull Request #42 · FRC2706/2026-2706-Robot-Code

Aadhya-Sure · 2026-02-21T20:28:52Z

Removed state machine to simplify code flow since theres only really two modes and two of the states can be combined into a singular method
Initialized and configured 4 motors (tested only 3 because we don't have agitator hopper motor)
Added CAN ID constants for motors
Created methods to control shooter motors based on current RPM and linked them to commands (startShooter, stopShooter)
Binded commands to the A button on the operator controller

Tested both shooter motors and feeder motor on prototype. Still need to PID tune.

…706-Robot-Code into shooter-develop-2

…add motor ids

…706-Robot-Code into shooter-develop-2

…red range

…r variable,s will replace wiht acutal values later

…706-Robot-Code into shooter-develop-2

…ystem periodic

GabbyGenereux

Please remove all the files under /.gradle from this PR, as they shouldn't be committed.

GabbyGenereux · 2026-02-28T18:42:18Z

.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{


this shouldn't be committed either. We need to keep the projectYear and currentLanguage set, as it is now in the codebase.

2026-2706-Robot-Code-Imported/src/main/java/frc/robot/subsystems/ShooterStateMachine.java

GabbyGenereux · 2026-02-28T18:43:47Z

2026-2706-Robot-Code/src/main/java/frc/robot/commands/startShooter.java

Nitpick: All java classes should be "PascalCase" (aka. first letter of every word should be capitalized) and methods should be camelCase (aka. first letter of every word, except for the first one, should be capitalized)

GabbyGenereux · 2026-02-28T18:44:16Z

2026-2706-Robot-Code/src/main/java/frc/robot/commands/startShooter.java

+import java.util.concurrent.TimeUnit;
+
+
+/** An example command that uses an example subsystem. */


lets update the comments with something more applicable to the current command/class

GabbyGenereux · 2026-02-28T18:45:08Z

2026-2706-Robot-Code/src/main/java/frc/robot/commands/startShooter.java

+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;


is this should return true when the command should end, and we just return false, does that mean the command never ends?

GabbyGenereux · 2026-02-28T18:45:41Z

2026-2706-Robot-Code/src/main/java/frc/robot/commands/stopShooter.java

Same comments apply here, rename the class and redo the comments so they are more descriptive of the code in the file.

GabbyGenereux · 2026-02-28T18:46:32Z

2026-2706-Robot-Code/src/main/java/frc/robot/commands/stopShooter.java

+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return true;


Opposite question than the one I posed in startShooter, if we return true when the command should end, and we just return true right away, does the command every actually run?

It looks to me that they have separated the start and stop into separate commands. Starting the shooting never ends until stop shooter is called. What happens if both commands are run at the same time (it could happen if they end up being assigned to different buttons).

I think they could probably be combined into a single command.

the button bindings for both commands are set such that they are both binded to one button. when you press/hold the button, startShooter runs and when you let go of the button, stopShooter is called. so basically stopShooter is continuously called until the button is pressed.

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/AutoSelectorKnobSubsystem.java

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

GabbyGenereux · 2026-02-28T18:49:36Z

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

+         // Determines which way the motor spins
+        shooterConfig.inverted(false);
+        shooterMotor2.configure( 
+        shooterConfig,


nitpick: we should indent these properly to help with readability.

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

GabbyGenereux · 2026-02-28T18:50:17Z

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

+                 followerConfig.follow(shooterMotor1);
+                 shooterMotor2.configure(followerConfig, SparkBase.ResetMode.kResetSafeParameters, SparkBase.PersistMode.kPersistParameters);
+
+


nit: Lets remove this extra whitespace as well

GabbyGenereux · 2026-02-28T18:51:27Z

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

+  }
+
+  public void testMotor() { // purely for testing
+    System.out.println(shooterMotor1);


Lets remove this for now. You'll have to add it back locally when you want to test, but I'd rather than than have rouge print statements hanging out in the code.

GabbyGenereux · 2026-02-28T18:52:10Z

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

+  }
+
+  /**
+


This is a good place to put a comment explaining what this method does, and what it returns.

GabbyGenereux · 2026-02-28T18:52:38Z

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

+        //indexerMotor.set(getDesiredVoltage()/2); 
+  }
+
+  //@Override


Should this be removed?

GabbyGenereux · 2026-02-28T18:58:59Z

2026-2706-Robot-Code/src/main/java/frc/robot/Robot.java

  public Robot() {
    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
    // autonomous chooser on the dashboard.
+    System.out.println("shooter system initialized");


We should remove print statements, if we want to log things we should use a separate logging system.

jogray72 · 2026-03-05T00:42:47Z

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

+        m_encoder = shooterMotor1.getEncoder();
+        SparkMaxConfig shooterConfig = new SparkMaxConfig();
+         // Determines which way the motor spins
+        shooterConfig.inverted(false);


You could make this a static variable instead of having to hunt through the code for it. Depending on how the motor is wired, then may need to be true or false. Since this is configuration related, it would be good practise to define configuration constant data together. For example

private static boolean INVERTED = false;

jogray72 · 2026-03-05T00:44:41Z

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

+        SparkBase.ResetMode.kResetSafeParameters, 
+        SparkBase.PersistMode.kPersistParameters
+        );
+        shooterMotor1.setCANTimeout(500);//Units in miliseconds


This timeout value could also be defined as a constant value... The other option for constant values is that you could allow them to be set via network tables... That can be really helpful during testing because it means you can dynamically tweak your variables without have to recompile and redeploy all the time.

jogray72 · 2026-03-05T00:46:59Z

2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/ShooterSubsystem.java

+    //@SuppressWarnings("resource")
+        shooterMotor2 = new SparkMax(Constants.shooterConstants.MOTOR2_ID, MotorType.kBrushless);
+         // Determines which way the motor spins
+        shooterConfig.inverted(false);


Similar comment as before, use a separate constant so they can be tweaked in one place.

Removed commented-out code related to resource warnings and indexer motor.

…706-Robot-Code into shooter-develop-2

aquaseals and others added 24 commits February 7, 2026 15:47

moving stuff from old shooter branch

df4bba9

Deleted unecessary imports in shooter subsytstem.

2800811

added documentation to the state machine

8bef29a

added documentation

c8c3fc1

Merge branch 'shooter-develop-2' of https://github.com/FRC2706/2026-2…

0ac794f

…706-Robot-Code into shooter-develop-2

added motor names

bb0708a

Added boolean supplier import

d15313f

added stop command

2c15904

Merge branch 'shooter-develop-2' of https://github.com/FRC2706/2026-2…

9b99135

…706-Robot-Code into shooter-develop-2

Added default settins and initiated motor controllers. Still Need to …

7e34c6e

…add motor ids

Merge branch 'shooter-develop-2' of https://github.com/FRC2706/2026-2…

9921e1f

…706-Robot-Code into shooter-develop-2

adding shooter commands, restructured shooter subystem

8100182

Merge branch 'shooter-develop-2' of https://github.com/FRC2706/2026-2…

1ae5ca3

…706-Robot-Code into shooter-develop-2

added to startShooter command, added checks for if the RPM is in desi…

e310535

…red range

Added motor controllers, started defining motor constants, used holde…

47661ad

…r variable,s will replace wiht acutal values later

Merge branch 'shooter-develop-2' of https://github.com/FRC2706/2026-2…

7cb5f1e

…706-Robot-Code into shooter-develop-2

restructured without state machine

208dc81

Merge branch 'shooter-develop-2' of https://github.com/FRC2706/2026-2…

e4445a1

…706-Robot-Code into shooter-develop-2

shooter subsystem methods working

0fa8054

implemented transition b/w spinningUp and ready method in shootersubs…

a2d8b66

…ystem periodic

removed state machine comments

04f0d22

Added button mapping

869204d

Add PID variables and set motor 2 to follow motor1

631646a

removed state machine

e67c0cb

Aadhya-Sure changed the title ~~Shooter develop 2~~ Shooter Subsytem Feb 21, 2026

Aadhya-Sure changed the title ~~Shooter Subsytem~~ Shooter Subsystem Feb 21, 2026

GabbyGenereux reviewed Feb 28, 2026

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2026-2706-Robot-Code/src/main/java/frc/robot/subsystems/AutoSelectorKnobSubsystem.java Show resolved Hide resolved

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GabbyGenereux reviewed Feb 28, 2026

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jogray72 reviewed Mar 5, 2026

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Delete ShooterStateMachine.java

613bc24

aquaseals changed the base branch from main to develop March 5, 2026 01:03

aquaseals and others added 3 commits March 4, 2026 20:37

removed suppress warning comments

b274baf

Removed commented-out code related to resource warnings and indexer motor.

changes according to pr comments

0e7c461

Merge branch 'shooter-develop-2' of https://github.com/FRC2706/2026-2…

5176300

…706-Robot-Code into shooter-develop-2

		import java.util.concurrent.TimeUnit;


		/** An example command that uses an example subsystem. */

		followerConfig.follow(shooterMotor1);
		shooterMotor2.configure(followerConfig, SparkBase.ResetMode.kResetSafeParameters, SparkBase.PersistMode.kPersistParameters);

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Aadhya-Sure commented Feb 21, 2026

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GabbyGenereux Feb 28, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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GabbyGenereux Feb 28, 2026 •

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