Merge branch 'Staging' of https://github.com/FRC-7525/7525-Rebuilt into Staging

Author: PotmanNob

src/main/java/frc/robot/Subsystems/Shooter/ShooterConstants.java

@@ -24,7 +24,7 @@ public final class ShooterConstants {
 	public static final Angle FIXED_SHOT_ANGLE = Degrees.of(20);
 	public static final AngularVelocity FIXED_SHOT_SPEED = RotationsPerSecond.of(-26);
 
-	public static final Angle STANDBY_ANGLE = Degrees.of(45); 
+	public static final Angle STANDBY_ANGLE = Degrees.of(45);
 	public static final AngularVelocity STANDBY_SPEED = RotationsPerSecond.of(-30);
 
 	// Numerical constants (moved from magic literals)
@@ -49,6 +49,8 @@ public final class ShooterConstants {
 	public static final int RIGHT_SHOOTER_MOTOR_ID = 38;
 	public static final int HOOD_MOTOR_ID = 39;
 
+	public static final int LIMIT_SWITCH_PORT = 9;
+
 	public static final Supplier<PIDController> HOOD_PID = () ->
 		switch (GlobalConstants.ROBOT_MODE) {
 			case REAL -> new PIDController(0.04, 0.0002, 0.0); //.0384 good alr

src/main/java/frc/robot/Subsystems/Shooter/ShooterIOReal.java

@@ -11,6 +11,7 @@
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import org.littletonrobotics.junction.Logger;
 
@@ -24,6 +25,7 @@ public class ShooterIOReal implements ShooterIO {
 	protected PIDController hoodPID;
 	protected PIDController wheelPID;
 	protected SimpleMotorFeedforward wheelFeedforward;
+	protected DigitalInput limitSwitch = new DigitalInput(LIMIT_SWITCH_PORT);
 
 	public ShooterIOReal() {
 		wheelSetpoint = RotationsPerSecond.zero();
@@ -70,6 +72,11 @@ public void setWheelVelocity(AngularVelocity velocity) {
 	public void setHoodAngle(Angle angle) {
 		hoodSetpoint = angle;
 		hoodMotor.set(hoodPID.calculate(hoodMotor.getPosition().getValue().div(HOOD_GEARING).in(Degrees), -hoodSetpoint.in(Degrees)));
+
+		if (limitSwitch.get()) {
+			hoodMotor.setPosition(0);
+			hoodMotor.set(0);
+		}
 	}
 
 	@Override

src/main/java/frc/robot/Subsystems/Shooter/ShooterStates.java

@@ -13,7 +13,7 @@
 import org.team7525.subsystem.SubsystemStates;
 
 public enum ShooterStates implements SubsystemStates {
-	IDLE("IDLE", () -> Degrees.of(0), () -> RotationsPerSecond.of(-65)),
+	IDLE("IDLE", () -> Degrees.of(0), () -> RotationsPerSecond.of(0)),
 	REVERSE("REVERSE", () -> Degrees.of(0), () -> REVERSE_WHEEL_SPEED), // TODO: get good value
 	// Use placeholder Pose2d and zero velocity for now; replace with real robot pose/velocity when available.
 	SHOOT_HUB(