Added Indexer(might need changes), created config inverted in titan u… by AlbedoLinguine · Pull Request #4 · frc5431/RobotCode2026

AlbedoLinguine · 2026-01-17T19:51:44Z

…til, fixed some shooter bugs

Copilot

Pull request overview

This pull request adds a new Indexer subsystem, creates a utility method for motor inversion configuration in CTREMechanism, and fixes some issues in the Shooter subsystem. The PR also includes code formatting improvements throughout the CTREMechanism class.

Changes:

Added new Indexer subsystem with state and mode management
Created configMotorInverted() utility method in CTREMechanism to simplify motor direction configuration
Updated Shooter subsystem with periodic state management and removed manual setConfig() call
Applied motor inversion configuration to Shooter and Intake subsystems

Reviewed changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 15 comments.

Show a summary per file

File	Description
CTREMechanism.java	Added configMotorInverted() method, reordered config methods, applied code formatting improvements
Shooter.java	Added periodic() method for state management, removed manual setConfig() call, added new fields
Intake.java	Applied motor inversion configuration using new utility method
Indexer.java	New subsystem implementing pattern similar to Shooter with state and mode management
Constants.java	Added IndexerConstants class, renamed SHOOTING to SHOOTER in ShooterState enum

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Copilot · 2026-01-17T19:56:55Z

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

+        switch (this.shooterMode) {
+            case IDLE:
+                setShooterState(ShooterState.IDLE);
+                break;
+            case SHOOTER:
+                setShooterState(ShooterState.SHOOTER);
+                break;
+            case REVERSE:
+                setShooterState(ShooterState.REVERSE);
+                break;
+        }
+
+    }


The periodic method sets the state based on the mode, but this appears to be redundant logic. The state is simply mirroring the mode without any actual motor control or behavior change. Consider either removing the state field entirely if it's not used elsewhere, or implementing actual motor control logic in the periodic method based on the state.

Copilot · 2026-01-17T19:56:55Z

src/main/java/frc/robot/subsystems/indexer/Indexer.java

+    private boolean attached;
+    private TalonFX motor;
+


The attached and motor fields are already defined in the parent class CTREMechanism as protected fields. Redefining them here as private fields shadows the parent fields and can lead to confusion and potential bugs. These field declarations should be removed.

Suggested change

private boolean attached;

private TalonFX motor;

Copilot · 2026-01-17T19:56:55Z

src/main/java/frc/robot/subsystems/indexer/Indexer.java

+            configPIDGains(IndexerConstants.p, IndexerConstants.i, IndexerConstants.d);
+            configPeakOutput(IndexerConstants.maxForwardOutput, IndexerConstants.maxReverseOutput);
+            configGearRatio(IndexerConstants.gearRatio);
+            configMotorInverted(IntakeConstants.invert);


This line uses IntakeConstants.invert instead of IndexerConstants.invert. This appears to be a copy-paste error and should use the correct constant for the Indexer subsystem.

@copilot open a new pull request to apply changes based on this feedback

Copilot · 2026-01-17T19:56:55Z

src/main/java/frc/robot/Constants.java

+    public static final boolean attached = true;

+    public static final int id = -1;


The motor ID is set to -1, which is likely a placeholder value that needs to be configured. Using an invalid/negative motor ID will cause runtime errors when attempting to communicate with the motor controller.

Suggested change

public static final boolean attached = true;

public static final int id = -1;

// Set to false until a valid CAN ID is configured for the indexer motor.

public static final boolean attached = false;

// TODO: Replace 0 with the actual CAN ID for the indexer motor before enabling it.

public static final int id = 0;

Copilot · 2026-01-17T19:56:55Z

src/main/java/frc/robot/Constants.java

+    public static final double i = 0;
+    public static final double d = 0;

+    public static final boolean invert = false;


The variable name invert is inconsistent with the naming used in other constants classes. ShooterConstants uses inverted while IndexerConstants and IntakeConstants use invert. For consistency, this should be renamed to inverted.

Suggested change

public static final boolean invert = false;

public static final boolean inverted = false;

Copilot · 2026-01-17T19:56:57Z

src/main/java/frc/robot/subsystems/indexer/Indexer.java

+        switch (this.indexerModes) {
+            case IDLE:
+                setIndexerState(IndexerState.IDLE);
+                break;
+            case INDEXER:
+                setIndexerState(IndexerState.INDEXER);
+                break;
+            case REVERSE:
+                setIndexerState(IndexerState.REVERSE);
+                break;
+        }
+
+    }


The periodic method sets the state based on the mode, but this appears to be redundant logic. The state is simply mirroring the mode without any actual motor control or behavior change. Consider either removing the state field entirely if it's not used elsewhere, or implementing actual motor control logic in the periodic method based on the state.

Copilot · 2026-01-17T19:56:57Z

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

+    private boolean attached;
+    private TalonFX motor;


The attached and motor fields are already defined in the parent class CTREMechanism as protected fields. Redefining them here as private fields shadows the parent fields and can lead to confusion and potential bugs. These field declarations should be removed.

Copilot · 2026-01-17T19:56:57Z

src/main/java/frc/team5431/titan/core/subsystem/CTREMechanism.java

  /**
-   * Multi-Purpose subsystem class based on 3847 Spectrum's Mechanism class utlizing PID Closed-Loop
+   * Multi-Purpose subsystem class based on 3847 Spectrum's Mechanism class
+   * utlizing PID Closed-Loop


The word "utlizing" is misspelled. It should be "utilizing".

Suggested change

* utlizing PID Closed-Loop

* utilizing PID Closed-Loop

Copilot · 2026-01-17T19:56:57Z

src/main/java/frc/team5431/titan/core/subsystem/CTREMechanism.java

   * Closed-loop velocity control with voltage compensation
   *
-   * @param velocity Mesure of Velocity in Terms of Angle; Converted to Rotations Per Second
+   * @param velocity Mesure of Velocity in Terms of Angle; Converted to Rotations


The word "Mesure" is misspelled. It should be "Measure".

Copilot · 2026-01-17T19:56:57Z

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

+
+

There is an unnecessary blank line after the SmartDashboard call. Consider removing this extra blank line to improve code readability.

Suggested change

Copilot · 2026-01-17T20:01:07Z

@AlbedoLinguine I've opened a new pull request, #5, to work on those changes. Once the pull request is ready, I'll request review from you.

micw1417

Ok got it very swag and neat

Added Indexer(might need changes), created config inverted in titan u…

7d4f0da

…til, fixed some shooter bugs

AlbedoLinguine requested review from Copilot and micw1417 January 17, 2026 19:52

Copilot started reviewing on behalf of AlbedoLinguine January 17, 2026 19:52 View session

Copilot AI reviewed Jan 17, 2026

View reviewed changes

Copilot AI mentioned this pull request Jan 17, 2026

Fix IndexerConfig using wrong constant from IntakeConstants #5

Merged

micw1417 reviewed Jan 22, 2026

View reviewed changes

micw1417 closed this Jan 22, 2026

		public static final boolean attached = true;

		public static final int id = -1;

-    public static final boolean attached = true;
-    public static final int id = -1;
+    // Set to false until a valid CAN ID is configured for the indexer motor.
+    public static final boolean attached = false;
+    // TODO: Replace 0 with the actual CAN ID for the indexer motor before enabling it.
+    public static final int id = 0;

	public static final boolean invert = false;
	public static final boolean inverted = false;

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