Algae corraler

[James4356]

No description provided.

[Copilot]

Pull Request Overview

This PR, titled "Algae corraler", refactors the subsystem’s state management by replacing the pivot setpoint control with a new arm speed control mechanism.

• Updated the States enum to use two speed values (thereSpeed and notThereSpeed) instead of an Angle pivot setpoint.
• Modified the simulation, real I/O, and interface to remove pivot-specific code and introduce arm speed methods.
• Updated the main control logic in AlgaeCoraler.java to use the new arm speed values.

Reviewed Changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerStates.java	Refactored enum to replace pivot setpoint with two speed parameters.
src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIOSim.java	Removed PID control and shifted focus from pivot setpoint to arm speed.
src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIOReal.java	Removed pivot control logic and updated nearTarget check with constant.
src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIO.java	Updated I/O interface to remove pivot methods and add arm speed methods.
src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerConstants.java	Updated constants for arm speeds and removed obsolete angle definitions.
src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoraler.java	Updated runState logic to use arm speed values instead of pivot setpoint.

[Copilot]

Pull Request Overview

This PR refactors the AlgaeCoraler subsystem to replace angle/PID-based pivot control with discrete "there" vs. "not there" arm speeds, updating states, constants, IO interfaces, and both simulation and real hardware implementations.

• Split each state’s pivot control into two speeds (there/not there) in AlgaeCoralerStates and AlgaeCoralerConstants.
• Removed Angle-based setpoint methods; introduced setArmSpeed in IO and implementations.
• Updated IO inputs to drop pivot position/setpoint and added arm speed fields/mechanics.

Reviewed Changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
AlgaeCoralerStates.java	Replaced single pivot setpoint with dual there/notThere speeds
AlgaeCoralerIOSim.java	Removed PID pivot logic; added setArmSpeed and simulation speed
AlgaeCoralerIOReal.java	Removed angle/PID logic; added arm-speed control and constants
AlgaeCoralerIO.java	Replaced pivot methods and inputs with arm-speed methods/fields
AlgaeCoralerConstants.java	Added there/not-there speed constants, debounce time, current threshold
AlgaeCoraler.java	Changed runState to drive pivot via setArmSpeed

Comments suppressed due to low confidence (1)

src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIO.java:9

• Field names should be lowerCamelCase. Rename ArmSpeed to armSpeed (and similarly ArmSetpoint to armSetpoint) for consistency with Java conventions.

public double ArmSpeed;

[Tortuga-AM]

Lgtm. I'll test it in sim in a bit.

[PotmanNob]

goofy ahh variable names

[PotmanNob]

lgtm