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This isn't ready for merge yet, it needs the remainder of the shot maps for the hub and then I'll probably also use it for passing. I wanted to create it so we could track it and make sure to keep it up to date. |
Merge branch 'main' into 95-better-shot-lookahead
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Pull request overview
This PR updates the robot’s shot lookahead / passing-vs-hub behavior, plus several related mechanism and match-state improvements (dejam logic, timing, and field-location representations).
Changes:
- Add position/time-of-flight lookahead to map-based shot calculation, and switch yaw representation to
Rotation2d. - Introduce
ShotMode-dependent “ready to shoot” thresholds for turret/hood/shooter, and auto-switchShotModebased on alliance-zone position. - Rework hopper/transfer-roller dejam state transitions and add more robust match-time tracking.
Reviewed changes
Copilot reviewed 39 out of 39 changed files in this pull request and generated 10 comments.
Show a summary per file
| File | Description |
|---|---|
| state_machine_graphs/transferroller.dot | Updates transfer roller state machine transitions (adds dejam transition + timeout). |
| state_machine_graphs/hopper.dot | Updates hopper dejam transition label to timeout-based behavior. |
| src/main/java/frc/robot/subsystems/turret/TurretSubsystem.java | Makes aim correctness depend on ShotMode threshold and logs manually. |
| src/main/java/frc/robot/subsystems/transferroller/TransferRollerSubsystem.java | Adds debounced dejam detection and changes dejam transitions (spin→dejam + timeout). |
| src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java | Adds ShotMode-based velocity threshold + falling-edge debounced “at goal”. |
| src/main/java/frc/robot/subsystems/intake/IntakeState.java | Updates pivot “set current position” reference to minPivotAngle. |
| src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java | Brakes instead of profiling when commanded near-zero velocity. |
| src/main/java/frc/robot/subsystems/hopper/HopperSubsystem.java | Adds debounce + cooldown timer and changes dejam exit to timeout-based. |
| src/main/java/frc/robot/subsystems/hopper/HopperState.java | Restarts dejam cooldown on spinning entry; adds WiggleState. |
| src/main/java/frc/robot/subsystems/hood/HoodSubsystem.java | Makes aim correctness depend on ShotMode threshold and logs manually. |
| src/main/java/frc/robot/coordination/MatchState.java | Adds “precise match time” timer and uses it to compute shifts/time-left. |
| src/main/java/frc/robot/constants/TurretConstants.java | Adds passing setpoint epsilon for turret. |
| src/main/java/frc/robot/constants/TransferRollerConstants.java | Adds dejamTime constant. |
| src/main/java/frc/robot/constants/StrategyConstants.java | Adds acceptable error threshold for precise match time. |
| src/main/java/frc/robot/constants/ShooterConstants.java | Adds passing velocity epsilon. |
| src/main/java/frc/robot/constants/RobotInfo.java | Adds derived robotToShooter2d transform for 2D shot math. |
| src/main/java/frc/robot/constants/IntakeConstants.java | Changes pivot neutral mode to coast. |
| src/main/java/frc/robot/constants/HopperConstants.java | Adds dejam debounce/time/cooldown constants. |
| src/main/java/frc/robot/constants/HoodConstants.java | Adds passing setpoint epsilon for hood. |
| src/main/java/frc/robot/constants/FieldLocations.java | Switches pass target locations to Translation2d. |
| src/main/java/frc/robot/constants/FieldLocationInstance.java | Switches stored pass targets to Translation2d. |
| src/main/java/frc/robot/constants/AllianceBasedFieldConstants.java | Adds caching, 2D hub center, and alliance-zone helper. |
| src/main/java/frc/robot/ShotCalculations.java | Refactors map-based shot calc to use pose lookahead + iterative virtual target; yaw is Rotation2d. |
| src/main/java/frc/robot/CoordinationLayer.java | Adds effective autonomy field, auto shot-mode switching by position, integrates ShotMode readiness checks, and updates shot calculator callsites. |
| src/main/deploy/constants/comp/TurretConstants.json | Adds turret passing epsilon in deploy constants. |
| src/main/deploy/constants/comp/TransferRollerConstants.json | Adds dejam time and adjusts dejam velocity in deploy constants. |
| src/main/deploy/constants/comp/StrategyConstants.json | Adds acceptable precise match time error in deploy constants. |
| src/main/deploy/constants/comp/ShotMaps.json | Adjusts numeric formatting and updates pass map datapoints. |
| src/main/deploy/constants/comp/ShooterConstants.json | Updates gains and adds passing epsilon in deploy constants. |
| src/main/deploy/constants/comp/RedFieldLocations.json | Updates pass target coordinates (2D). |
| src/main/deploy/constants/comp/ManualModeConstants.json | Swaps/updates manual pass/hub headings. |
| src/main/deploy/constants/comp/IntakeConstants.json | Updates intake roller speed and homing voltage. |
| src/main/deploy/constants/comp/IndexerConstants.json | Updates indexing velocity and gains. |
| src/main/deploy/constants/comp/HopperConstants.json | Updates dejam voltage/thresholds and adds dejam timing params. |
| src/main/deploy/constants/comp/HoodConstants.json | Adds hood passing epsilon in deploy constants. |
| src/main/deploy/constants/comp/FeatureFlags.json | Disables transfer roller via feature flag in comp config. |
| src/main/deploy/constants/comp/BlueFieldLocations.json | Updates pass target structure to 2D format. |
| elastic_layouts/competition.json | Adds a competition dashboard layout (match time/shift, shot mode, alerts, etc.). |
| .vscode/settings.json | Increases Java language server max heap to 16G. |
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Pull request overview
Copilot reviewed 39 out of 39 changed files in this pull request and generated 5 comments.
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…debounce short circuit
godmar
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Mar 10, 2026
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godmar
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Would you mind adding a few clarifications? See below.
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Renamed to AllianceBasedValue. I was thinking it could be named better too, I just hadn't decided on a name yet. |
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no time to waste |
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