shooter code theorical

[AlbedoLinguine]

No description provided.

[Copilot]

Pull request overview

This pull request implements shooter subsystem functionality by adding state management, velocity control modes, and a command interface for the robot's shooter mechanism.

Changes:

• Added state and mode management to the Shooter subsystem with enum-based configurations
• Introduced PID control parameters and multiple operational speeds (shooting, reverse, idle)
• Created a command method for controlling the shooter via enumerated modes

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 7 comments.

File	Description
src/main/java/frc/robot/subsystems/shooter/Shooter.java	Added state/mode fields, updated constructor with initialization, and implemented runShooterCommand method with velocity control
src/main/java/frc/robot/Constants.java	Added PID gains, speed constants, and ShooterModes enum defining operational modes
.vscode/settings.json	Changed default Java formatter from Spotless to Red Hat

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[Copilot]

The Logger import is not used anywhere in this file. This import should be removed.

Suggested change

import frc.team5431.titan.core.misc.Logger;

[Copilot]

The assignments 'this.attached = attached' and 'this.motor = motor' are redundant since the parent constructor 'super(motor, attached)' already handles these assignments. These lines should be removed.

Suggested change

	this.attached = attached;
	this.motor = motor;

[Copilot]

The setConfig method is called after applyTalonConfig, but setConfig creates a new ShooterConfig and applyTalonConfig likely needs the config to be initialized first. The order should be reversed: call setConfig() before config.applyTalonConfig(motor).

Suggested change

	config.applyTalonConfig(motor);
	this.setConfig();
	this.setConfig();
	config.applyTalonConfig(motor);

[Copilot]

The enum fields 'speed' and 'output' should be declared as final since they are set in the constructor and should not be modified after initialization.

Suggested change

	public AngularVelocity speed;
	public double output;
	public final AngularVelocity speed;
	public final double output;

[Copilot]

Inconsistent indentation is used for the ShooterModes enum. The enum values and their fields use extra indentation (8 spaces) compared to the standard 4 spaces used elsewhere in the codebase.

Suggested change

	SHOOTER(shooterSpeed, 1.0),
	REVERSE(reverseSpeed, -0.5),
	IDLE(idleSpeed, 0.0);
	public AngularVelocity speed;
	public double output;
	ShooterModes(AngularVelocity speed, double output) {
	this.speed = speed;
	this.output = output;
	}
	}
	SHOOTER(shooterSpeed, 1.0),
	REVERSE(reverseSpeed, -0.5),
	IDLE(idleSpeed, 0.0);
	public AngularVelocity speed;
	public double output;
	ShooterModes(AngularVelocity speed, double output) {
	this.speed = speed;
	this.output = output;
	}
	}

[Copilot]

The parameter 'shooterModes' is not used in the method body. The method uses the instance field 'shooterMode' instead of the parameter. Either remove the parameter if it's not needed, or use it to set the shooter mode before applying the velocity.

Suggested change

	return new RunCommand(() -> setVelocity(shooterMode.speed), this)
	this.shooterMode = shooterModes;
	return new RunCommand(() -> setVelocity(this.shooterMode.speed), this)

[Copilot]

The imports for IntakeConstants and IntakeModes are not used anywhere in this file. These should be removed.