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src/main/java/frc/robot/GlobalConstants.java

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public static final double SIMULATION_PERIOD = 0.02;
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public static class Controllers {
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public static final XboxController DRIVER_CONTROLLER = new XboxController(0);
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public static final XboxController OPERATOR_CONTROLLER = new XboxController(1);
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}

src/main/java/frc/robot/Main.java

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import edu.wpi.first.wpilibj.RobotBase;
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import frc.robot.TeamLib.CI.CrashCheck;
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/**
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* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
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* you are doing, do not modify this file except to change the parameter class to the startRobot

src/main/java/frc/robot/Manager/Manager.java

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import frc.robot.Subsystems.Intake.Intake;
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import frc.robot.Subsystems.Vision.Vision;
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import frc.robot.TeamLib.subsystem.*;
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public class Manager extends Subsystem<ManagerStates> {
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private static Manager instance;
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package frc.robot.Manager;
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public final class ManagerConstants {
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public static final String SUBSYSTEM_NAME = "Manager";
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}

src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHood.java

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import static frc.robot.GlobalConstants.*;
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import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.SUBSYSTEM_NAME;
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import edu.wpi.first.units.measure.Angle;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import frc.robot.Subsystems.AdjustableHood.AdjustableHoodIO.AdjustableHoodIOInputs;

src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHoodIO.java

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import edu.wpi.first.units.measure.Angle;
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public interface AdjustableHoodIO {
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public static class AdjustableHoodIOInputs {
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public Angle hoodSetpoint;

src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHoodIOReal.java

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import static frc.robot.GlobalConstants.ROBOT_MODE;
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import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.PIVOT_PID;
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import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.Real.*;
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import com.ctre.phoenix6.hardware.TalonFX;
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import edu.wpi.first.math.controller.ProfiledPIDController;
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import edu.wpi.first.math.util.Units;

src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHoodIOSim.java

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import static edu.wpi.first.units.Units.Radians;
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import static frc.robot.GlobalConstants.SIMULATION_PERIOD;
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import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.*;
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import com.ctre.phoenix6.hardware.TalonFX;
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import com.ctre.phoenix6.sim.TalonFXSimState;
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import edu.wpi.first.math.controller.ProfiledPIDController;

src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHoodStates.java

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package frc.robot.Subsystems.AdjustableHood;
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import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.*;
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import edu.wpi.first.units.measure.Angle;
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import frc.robot.Subsystems.HoodedShooterSupersystem.HoodedShooterSupersystem;
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import java.util.function.Supplier;
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import frc.robot.TeamLib.subsystem.*;
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import java.util.function.Supplier;
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public enum AdjustableHoodStates implements SubsystemStates {
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IDLE("IDLE", () -> IDLE_ANGLE),

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