Testbed

src/main/java/frc/robot/generic/subsystems/drive/DriveConstants.java

@@ -48,16 +48,16 @@ public class DriveConstants {
   That means the wheel needs to rotate toward the robot’s absolute right
   (clockwise when viewed from above).
 
-  To decide whether a wheel is over- or underrotated:
+  To decide whether a wheel is over - or underrotated:
   Stand (or imagine standing) beside the robot, facing the same direction as its absolute front.
 
   - For front wheels:
-      Overrotated → pointing toward the robot’s right (your left)
-      Underrotated → pointing toward the robot’s left (your right)
+      Overrotated -> pointing toward the robot's right (your left)
+      Underrotated -> pointing toward the robot's left (your right)
 
   - For back wheels:
-      Overrotated → pointing toward the robot’s right (your left)
-      Underrotated → pointing toward the robot’s left (your right)
+      Overrotated -> pointing toward the robot's right (your left)
+      Underrotated -> pointing toward the robot's left (your right)
   */
   public static final Rotation2d frontLeftZeroRotation =
       new Rotation2d(-0.7853181997882291).minus(new Rotation2d(Degrees.of(16 + 5)));

src/main/java/frc/robot/generic/subsystems/drive/ModuleIOSpark.java

@@ -73,7 +73,7 @@ public class ModuleIOSpark implements ModuleIO {
   private final Debouncer driveConnectedDebounce = new Debouncer(0.5);
   private final Debouncer turnConnectedDebounce = new Debouncer(0.5);
 
-  // Cached cancoder status — updated only in resetToAbsolute()
+  // Cached cancoder status - updated only in resetToAbsolute()
   private boolean lastCancoderConnected = false;
 
   private final int module;

src/main/java/frc/robot/outReach/RobotContainer.java

@@ -31,10 +31,9 @@
 import frc.robot.generic.util.LoggedTalon.NoOppTalonFX;
 import frc.robot.generic.util.LoggedTalon.PhoenixTalonFX;
 import frc.robot.generic.util.LoggedTalon.SimpleMotorSim;
-import frc.robot.outReach.subsystems.turret.Turret;
 import frc.robot.generic.util.RobotConfig;
 import frc.robot.generic.util.SwerveBuilder;
-
+import frc.robot.outReach.subsystems.turret.Turret;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
 /**

src/main/java/frc/robot/outReach/subsystems/shooter/Shooter.java

@@ -3,23 +3,19 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.outReach.subsystems.shooter;
-import frc.robot.generic.util.LoggedTalon.LoggedTalonFX;
-
-import java.util.function.DoubleSupplier;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.FeedbackConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.NeutralOut;
-import com.ctre.phoenix6.controls.VelocityDutyCycle;
 import com.ctre.phoenix6.controls.VelocityVoltage;
-import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.generic.util.LoggedTalon.LoggedTalonFX;
+import java.util.function.DoubleSupplier;
 
 public class Shooter extends SubsystemBase {
   private final LoggedTalonFX shooterMotor;
@@ -28,29 +24,30 @@ public class Shooter extends SubsystemBase {
 
   /** Creates a new Torrent. */
   public Shooter(LoggedTalonFX shooterMotor) {
-    var config = 
-      new TalonFXConfiguration()
-        .withCurrentLimits(
-          new CurrentLimitsConfigs().withStatorCurrentLimit(30).withSupplyCurrentLimit(60))
-          .withSlot0(new Slot0Configs().withKP(0).withKI(0).withKD(0).withKS(0).withKV(0))
-          .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(0))
-          .withMotorOutput(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast));
+    var config =
+        new TalonFXConfiguration()
+            .withCurrentLimits(
+                new CurrentLimitsConfigs().withStatorCurrentLimit(30).withSupplyCurrentLimit(60))
+            .withSlot0(new Slot0Configs().withKP(0).withKI(0).withKD(0).withKS(0).withKV(0))
+            .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(0))
+            .withMotorOutput(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast));
+
+    this.shooterMotor = shooterMotor.withConfig(config);
+  }
 
-    this.shooterMotor = shooterMotor.withConfig(config); 
+  public Command spinToVelocityAndRotationsCommand(DoubleSupplier velocityRPS) {
+    return runEnd(
+        () -> {
+          shooterMotor.setControl(velocityPIDRequest.withVelocity(velocityRPS.getAsDouble()));
+        },
+        () -> {
+          shooterMotor.setControl(neutralOut);
+        });
   }
-public Command spinToVelocityAndRotationsCommand(DoubleSupplier velocityRPS) {
-  return runEnd(()->{
-    shooterMotor.setControl(velocityPIDRequest.withVelocity(velocityRPS.getAsDouble()));
-  }, ()-> {
-    shooterMotor.setControl(neutralOut);
-  });
-}
-
 
-@Override
+  @Override
   public void periodic() {
     // This method will be called once per scheduler run
     shooterMotor.periodic();
   }
 }
-