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Hood: Explicitly set servos and target to 0 on boot #422

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Hood: Explicitly set servos and target to 0 on boot #422

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89cf503
Overkill, but zero the hood explicitly when we create them
aschokking Apr 11, 2026
b468543
Merge branch 'main' into hood-zero-extra-safe
aschokking Apr 11, 2026
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4 changes: 4 additions & 0 deletions src/main/java/competition/subsystems/hood/HoodSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ public HoodSubsystem(XServo.XServoFactory servoFactory,
if (electricalContract.isHoodServoLeftReady()) {
var servoLeft = servoFactory.create(
electricalContract.getHoodServoLeft().channel, getName() + "/Servo");
servoLeft.set(0);
registerDataFrameRefreshable(servoLeft);
hoodServoLeft = new TimedAndBoundedServo(
servoLeft,
Expand All @@ -72,6 +73,7 @@ public HoodSubsystem(XServo.XServoFactory servoFactory,
if (electricalContract.isHoodServoRightReady()) {
var servoRight = servoFactory.create(
electricalContract.getHoodServoRight().channel, getName() + "/Servo");
servoRight.set(0);
registerDataFrameRefreshable(servoRight);
hoodServoRight = new TimedAndBoundedServo(
servoRight,
Expand All @@ -84,6 +86,8 @@ public HoodSubsystem(XServo.XServoFactory servoFactory,

this.servoTargetNormalized = propertyFactory.createPersistentProperty(
"ServoTargetPositionNormalized", 0);
// make sure this starts at zero always
this.servoTargetNormalized.set(0.0);
this.extend = propertyFactory.createPersistentProperty("MaxExtensionGoal", 1.0);
this.retract = propertyFactory.createPersistentProperty("MinExtensionGoal", 0.0);
this.readinessTimeoutSeconds = propertyFactory.createPersistentProperty("ReadinessTimeoutSeconds", 3.0);
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