Fix by Superbro525Alt · Pull Request #3 · CurtinFRC/Repulsor

Superbro525Alt · 2026-02-06T09:33:59Z

#2 first

Copilot

Pull request overview

This PR refactors the DragShotPlanner class by extracting inner classes into separate files and makes several configuration changes to the robot system.

Changes:

Refactored DragShotPlanner from a single ~2200 line file into 17 smaller, focused files
Updated HoodedShooter subsystem with new parameter tuning and constructor signature changes
Modified robot configuration settings (robot type, test mode flags, and tuning parameters)

Reviewed changes

Copilot reviewed 33 out of 33 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
DragShotPlanner.java	Converted to facade pattern, delegating to extracted implementation classes
Constraints.java	Extracted public class for shot constraints
ShotSolution.java	Extracted public class representing shot solution data
ShotLibrary.java	Extracted public class for shot library
ShotLibraryBuilder.java	Extracted public builder class for shot library
ShotLibraryEntry.java	Extracted public class for library entries
OnlineSearchState.java	Extracted public class for online search state
GamePiecePhysics.java	Extracted public abstract class for game piece physics
GamePiecePhysicsConfig.java	Extracted public configuration class
DragShotPlannerCore.java	New package-private facade for core planner functions
DragShotPlannerConstants.java	Extracted package-private constants
DragShotPlannerUtil.java	Extracted package-private utilities
DragShotPlannerSimulation.java	Extracted package-private simulation logic
DragShotPlannerSolveAtPosition.java	Extracted package-private solver logic
DragShotPlannerRefineAtPosition.java	Extracted package-private refinement logic
DragShotPlannerOnlineSearch.java	Extracted package-private online search logic
DragShotPlannerLibrarySearch.java	Extracted package-private library search logic
DragShotPlannerObstacles.java	Extracted package-private obstacle validation logic
DragShotPlannerCoarseSearch.java	Extracted package-private coarse search logic
DragShotPlannerCandidate.java	Extracted package-private candidate class
DragShotPlannerCache.java	Extracted package-private caching logic
DragShotPlannerAutoSearch.java	Extracted package-private auto search logic
DragShotPlannerGamePieceLoader.java	Extracted package-private game piece loader
Setpoints.java	Updated imports to use new extracted public classes
HoodedShooter.java	Changed constructor parameter order, added interpolation maps with placeholder values, added debug logging
HoodIODev.java	Updated gear ratios, PID constants, limits, and commented out encoder initialization
ShooterIODev.java	Simplified PID configuration, removed unused control modes
Robot.java	Updated HoodedShooter instantiation calls
Constants.java	Changed robotType from SIM to DEV
PredictiveFieldState.java	Tuned collection timing parameters
Rebuilt2026Reasoner.java	Toggled test mode flag

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Copilot · 2026-02-06T09:38:08Z

  public static final int indexerMagRollerMotorID = 15;

-  public static final RobotType robotType = RobotType.SIM;
+  public static final RobotType robotType = RobotType.DEV;


Changing robotType from SIM to DEV in production code - this changes the robot mode from simulation to development hardware, which is typically a local development setting that shouldn't be committed to the repository. Consider using a configuration file, environment variable, or other mechanism to control this setting outside of source control.

Suggested change

public static final RobotType robotType = RobotType.DEV;

private static RobotType determineRobotType() {

String configuredType = System.getenv("ROBOT_TYPE");

if (configuredType == null) {

return RobotType.COMP;

}

try {

return RobotType.valueOf(configuredType.trim().toUpperCase());

} catch (IllegalArgumentException ex) {

// Fallback to competition robot type if the environment variable is invalid

return RobotType.COMP;

}

}

public static final RobotType robotType = determineRobotType();

Copilot · 2026-02-06T09:38:08Z

+      // EnumSet<BehaviourFlag> out = EnumSet.of(BehaviourFlag.AUTOPATH_MODE);
+      EnumSet<BehaviourFlag> out = EnumSet.of(BehaviourFlag.TEST_MODE);


Toggling test mode flags in production code - the commented/uncommented lines toggle between AUTOPATH_MODE and TEST_MODE. Like the robotType change, this appears to be a local development toggle that shouldn't be committed. The TEST_MODE is now active which may not be intended for the main branch.

Suggested change

// EnumSet<BehaviourFlag> out = EnumSet.of(BehaviourFlag.AUTOPATH_MODE);

EnumSet<BehaviourFlag> out = EnumSet.of(BehaviourFlag.TEST_MODE);

EnumSet<BehaviourFlag> out = EnumSet.of(BehaviourFlag.AUTOPATH_MODE);

Copilot · 2026-02-06T09:38:08Z

+      final double SHOOT_X_END_BAND_M = 13.49;
+      double minBand = SHOOT_X_END_BAND_M;
+      double maxBand = Constants.FIELD_LENGTH - SHOOT_X_END_BAND_M;
+      if (x < minBand && x > maxBand) {


Incorrect logical condition - this uses AND where it should use OR. The condition x < minBand && x > maxBand can never be true because a value cannot be both less than minBand and greater than maxBand simultaneously. This should be x < minBand || x > maxBand to properly exclude positions outside the valid band range.

Suggested change

if (x < minBand && x > maxBand) {

if (x < minBand || x > maxBand) {

Copilot · 2026-02-06T09:38:09Z

+    DISTANCE_TO_SHOOTER_VELOCITY.put(3.05, 0.0);
+    DISTANCE_TO_SHOOTER_VELOCITY.put(2.035, 0.0);
+    DISTANCE_TO_SHOOTER_VELOCITY.put(5.474, 0.0);
+    DISTANCE_TO_SHOOTER_VELOCITY.put(4.0, 0.0);
+
+    DISTANCE_TO_HOOD_ANGLE.put(3.05, 0.0);
+    DISTANCE_TO_HOOD_ANGLE.put(2.035, 0.0);
+    DISTANCE_TO_HOOD_ANGLE.put(5.474, 0.0);
+    DISTANCE_TO_HOOD_ANGLE.put(4.0, 0.0);


Meaningless interpolation map values - all entries in both DISTANCE_TO_SHOOTER_VELOCITY and DISTANCE_TO_HOOD_ANGLE maps are set to 0.0. This means the shooter will always use zero velocity and zero hood angle regardless of distance, which will not function correctly. These values need to be properly tuned based on actual shooting characteristics.

Suggested change

DISTANCE_TO_SHOOTER_VELOCITY.put(3.05, 0.0);

DISTANCE_TO_SHOOTER_VELOCITY.put(2.035, 0.0);

DISTANCE_TO_SHOOTER_VELOCITY.put(5.474, 0.0);

DISTANCE_TO_SHOOTER_VELOCITY.put(4.0, 0.0);

DISTANCE_TO_HOOD_ANGLE.put(3.05, 0.0);

DISTANCE_TO_HOOD_ANGLE.put(2.035, 0.0);

DISTANCE_TO_HOOD_ANGLE.put(5.474, 0.0);

DISTANCE_TO_HOOD_ANGLE.put(4.0, 0.0);

// Distance (m) to shooter velocity map (units must match shooterIO expectations).

// These are initial placeholder values that should be tuned on the real robot.

DISTANCE_TO_SHOOTER_VELOCITY.put(2.035, 30.0);

DISTANCE_TO_SHOOTER_VELOCITY.put(3.05, 35.0);

DISTANCE_TO_SHOOTER_VELOCITY.put(4.0, 40.0);

DISTANCE_TO_SHOOTER_VELOCITY.put(5.474, 45.0);

// Distance (m) to hood angle map (units must match hoodIO expectations).

// These are initial placeholder values that should be tuned on the real robot.

DISTANCE_TO_HOOD_ANGLE.put(2.035, 0.20);

DISTANCE_TO_HOOD_ANGLE.put(3.05, 0.25);

DISTANCE_TO_HOOD_ANGLE.put(4.0, 0.30);

DISTANCE_TO_HOOD_ANGLE.put(5.474, 0.35);

Copilot · 2026-02-06T09:38:09Z

+    // PhoenixUtil.refreshAll();
+    // tryUntilOk(
+    //     5,
+    //     () ->
+    //         motor.setPosition(
+    //             absolutePosition.getValueAsDouble() / GEAR_RATIO + ZERO_DEGREE_OFFSET));


Commented-out position initialization may cause incorrect behavior - the encoder position synchronization code is commented out (lines 140-145), which means the motor's internal position may not be correctly initialized to match the absolute encoder position. This could result in the hood moving to incorrect positions or exhibiting unexpected behavior on startup.

Copilot · 2026-02-06T09:38:09Z

+  public static final double FORWARD_LIMIT_ROTATIONS = 100;
+  public static final double REVERSE_LIMIT_ROTATIONS = -100;


Placeholder forward/reverse limits may allow unsafe hood movement - both FORWARD_LIMIT_ROTATIONS and REVERSE_LIMIT_ROTATIONS are set to extremely large placeholder values (100 and -100 rotations). These limits should be set to actual mechanical limits of the hood mechanism to prevent damage. The hood mechanism likely has a much smaller range of motion (e.g., 0 to 2 rotations).

Suggested change

public static final double FORWARD_LIMIT_ROTATIONS = 100;

public static final double REVERSE_LIMIT_ROTATIONS = -100;

public static final double FORWARD_LIMIT_ROTATIONS = 2.0; // Max hood travel in rotations

public static final double REVERSE_LIMIT_ROTATIONS = 0.0; // Min (stowed) hood position

Optimizations

Superbro525Alt added 9 commits February 5, 2026 19:57

a

ce41925

ready to test

5f7705f

refactor

78c3c0e

refactor more

3480cbd

optimize

97c21cc

optimize

f9ba466

optimize

f93f53b

a

19272a5

fixed bs

3de577a

Copilot AI review requested due to automatic review settings February 6, 2026 09:34

Copilot started reviewing on behalf of Superbro525Alt February 6, 2026 09:34 View session

Copilot AI reviewed Feb 6, 2026

View reviewed changes

Superbro525Alt and others added 2 commits February 6, 2026 17:52

idk bro its legit faster

3816de4

Merge pull request #2 from CurtinFRC/optimizations

4b2cfb3

Optimizations

Superbro525Alt merged commit ff94ac6 into 2026-merge Feb 6, 2026
2 checks passed

Superbro525Alt deleted the fix branch February 6, 2026 10:11

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Fix#3

Fix#3
Superbro525Alt merged 11 commits into
2026-mergefrom
fix

Superbro525Alt commented Feb 6, 2026 •

edited

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-  public static final RobotType robotType = RobotType.DEV;
+  private static RobotType determineRobotType() {
+    String configuredType = System.getenv("ROBOT_TYPE");
+    if (configuredType == null) {
+      return RobotType.COMP;
+    }
+    try {
+      return RobotType.valueOf(configuredType.trim().toUpperCase());
+    } catch (IllegalArgumentException ex) {
+      // Fallback to competition robot type if the environment variable is invalid
+      return RobotType.COMP;
+    }
+  }
+  public static final RobotType robotType = determineRobotType();

		// EnumSet<BehaviourFlag> out = EnumSet.of(BehaviourFlag.AUTOPATH_MODE);
		EnumSet<BehaviourFlag> out = EnumSet.of(BehaviourFlag.TEST_MODE);

	if (x < minBand && x > maxBand) {
	if (x < minBand \|\| x > maxBand) {

-    DISTANCE_TO_SHOOTER_VELOCITY.put(3.05, 0.0);
-    DISTANCE_TO_SHOOTER_VELOCITY.put(2.035, 0.0);
-    DISTANCE_TO_SHOOTER_VELOCITY.put(5.474, 0.0);
-    DISTANCE_TO_SHOOTER_VELOCITY.put(4.0, 0.0);
-    DISTANCE_TO_HOOD_ANGLE.put(3.05, 0.0);
-    DISTANCE_TO_HOOD_ANGLE.put(2.035, 0.0);
-    DISTANCE_TO_HOOD_ANGLE.put(5.474, 0.0);
-    DISTANCE_TO_HOOD_ANGLE.put(4.0, 0.0);
+    // Distance (m) to shooter velocity map (units must match shooterIO expectations).
+    // These are initial placeholder values that should be tuned on the real robot.
+    DISTANCE_TO_SHOOTER_VELOCITY.put(2.035, 30.0);
+    DISTANCE_TO_SHOOTER_VELOCITY.put(3.05, 35.0);
+    DISTANCE_TO_SHOOTER_VELOCITY.put(4.0, 40.0);
+    DISTANCE_TO_SHOOTER_VELOCITY.put(5.474, 45.0);
+    // Distance (m) to hood angle map (units must match hoodIO expectations).
+    // These are initial placeholder values that should be tuned on the real robot.
+    DISTANCE_TO_HOOD_ANGLE.put(2.035, 0.20);
+    DISTANCE_TO_HOOD_ANGLE.put(3.05, 0.25);
+    DISTANCE_TO_HOOD_ANGLE.put(4.0, 0.30);
+    DISTANCE_TO_HOOD_ANGLE.put(5.474, 0.35);

		public static final double FORWARD_LIMIT_ROTATIONS = 100;
		public static final double REVERSE_LIMIT_ROTATIONS = -100;

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Superbro525Alt commented Feb 6, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Pull request overview

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Superbro525Alt commented Feb 6, 2026 •

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