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feat(commands): collector commands #21

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2e2538b
refactor(subsystems): remove all advantagekit abstractions
Baconing Mar 17, 2026
f876504
refactor(subsystems): remove all advantagekit abstractions
Baconing Mar 17, 2026
4ede88a
feat(commands): collector commands
Baconing Mar 17, 2026
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5 changes: 0 additions & 5 deletions build.gradle.kts
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Original file line number Diff line number Diff line change
Expand Up @@ -155,11 +155,6 @@ tasks {

from({ sourceSets.main.get().allSource })
}

register<JavaExec>("replayWatch", JavaExec::class.java) {
mainClass = "org.littletonrobotics.junction.ReplayWatch"
classpath = sourceSets.main.get().runtimeClasspath
}
}

gversion {
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27 changes: 9 additions & 18 deletions src/main/kotlin/org/frc5183/robot/Robot.kt
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Expand Up @@ -4,17 +4,12 @@ import edu.wpi.first.hal.FRCNetComm
import edu.wpi.first.hal.HAL
import edu.wpi.first.math.geometry.Pose2d
import edu.wpi.first.units.Units
import edu.wpi.first.wpilibj.RobotBase
import edu.wpi.first.wpilibj.Threads
import edu.wpi.first.wpilibj.util.WPILibVersion
import edu.wpi.first.wpilibj2.command.CommandScheduler
import org.frc5183.robot.commands.drive.TeleopDriveCommand
import org.frc5183.robot.constants.*
import org.frc5183.robot.constants.swerve.SwerveConstants
import org.frc5183.robot.constants.swerve.SwervePIDConstants
import org.frc5183.robot.subsystems.drive.SwerveDriveSubsystem
import org.frc5183.robot.subsystems.drive.io.RealSwerveDriveIO
import org.frc5183.robot.subsystems.drive.io.SimulatedSwerveDriveIO
import org.littletonrobotics.junction.LoggedRobot
import org.littletonrobotics.junction.Logger
import swervelib.SwerveDrive
Expand Down Expand Up @@ -47,20 +42,16 @@ object Robot : LoggedRobot() {

Logger.start()

val swerve =
SwerveDrive(
SwerveConstants.YAGSL,
SwerveConstants.YAGSL_CONTROLLER_CONFIG,
PhysicalConstants.MAX_VELOCITY.`in`(Units.MetersPerSecond),
Pose2d.kZero,
)

drive =
if (RobotBase.isReal()) {
SwerveDriveSubsystem(RealSwerveDriveIO(swerve))
} else {
SwerveDriveSubsystem(SimulatedSwerveDriveIO(swerve))
}
SwerveDriveSubsystem(
SwerveDrive(
SwerveConstants.YAGSL,
SwerveConstants.YAGSL_CONTROLLER_CONFIG,
PhysicalConstants.MAX_VELOCITY.`in`(Units.MetersPerSecond),
Pose2d.kZero,
),
null,
)
}

override fun robotPeriodic() {
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23 changes: 23 additions & 0 deletions src/main/kotlin/org/frc5183/robot/commands/collector/DriveCollector.kt
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@@ -0,0 +1,23 @@
package org.frc5183.robot.commands.collector

import edu.wpi.first.wpilibj2.command.Command
import org.frc5183.robot.subsystems.collector.CollectorSubsystem

class DriveCollector(
val collector: CollectorSubsystem,
val input: () -> Double,
) : Command() {
init {
addRequirements(collector)
}

override fun execute() {
collector.runIntake(input())
}

override fun end(interrupted: Boolean) {
collector.stopIntake()
}

override fun isFinished(): Boolean = false
}
23 changes: 23 additions & 0 deletions src/main/kotlin/org/frc5183/robot/commands/collector/IntakeCommand.kt
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@@ -0,0 +1,23 @@
package org.frc5183.robot.commands.collector

import edu.wpi.first.wpilibj2.command.Command
import org.frc5183.robot.subsystems.collector.CollectorSubsystem
import org.frc5183.robot.subsystems.shooter.ShooterSubsystem

class IntakeCommand(
val collector: CollectorSubsystem,
) : Command() {
init {
addRequirements(collector)
}

override fun initialize() {
collector.runIntake(1.0)
}

override fun end(interrupted: Boolean) {
collector.stopIntake()
}

override fun isFinished(): Boolean = false
}
23 changes: 23 additions & 0 deletions src/main/kotlin/org/frc5183/robot/commands/collector/LowerCollector.kt
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@@ -0,0 +1,23 @@
package org.frc5183.robot.commands.collector

import edu.wpi.first.wpilibj2.command.Command
import org.frc5183.robot.subsystems.collector.CollectorSubsystem
import org.frc5183.robot.subsystems.shooter.ShooterSubsystem
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⚠️ Potential issue | 🟡 Minor

Remove unused import.

ShooterSubsystem is imported but never used in this class.

🧹 Proposed fix 
 import edu.wpi.first.wpilibj2.command.Command
 import org.frc5183.robot.subsystems.collector.CollectorSubsystem
-import org.frc5183.robot.subsystems.shooter.ShooterSubsystem
📝 Committable suggestion

‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change
import org.frc5183.robot.subsystems.shooter.ShooterSubsystem
import edu.wpi.first.wpilibj2.command.Command
import org.frc5183.robot.subsystems.collector.CollectorSubsystem
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@src/main/kotlin/org/frc5183/robot/commands/collector/LowerCollector.kt` at
line 5, The import of ShooterSubsystem at the top of LowerCollector is unused;
open the LowerCollector class and remove the line importing
org.frc5183.robot.subsystems.shooter.ShooterSubsystem so the file no longer
contains an unused import (leave all other imports and the LowerCollector class
unchanged).


class LowerCollector(
val collector: CollectorSubsystem,
) : Command() {
init {
addRequirements(collector)
}

override fun initialize() {
collector.runArm(-1.0)
}

override fun end(interrupted: Boolean) {
collector.stopArm()
}

override fun isFinished(): Boolean = collector.atBottom
}
23 changes: 23 additions & 0 deletions src/main/kotlin/org/frc5183/robot/commands/collector/RaiseCollector.kt
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@@ -0,0 +1,23 @@
package org.frc5183.robot.commands.collector

import edu.wpi.first.wpilibj2.command.Command
import org.frc5183.robot.subsystems.collector.CollectorSubsystem
import org.frc5183.robot.subsystems.shooter.ShooterSubsystem

class RaiseCollector(
val collector: CollectorSubsystem,
) : Command() {
init {
addRequirements(collector)
}

override fun initialize() {
collector.runArm(1.0)
}

override fun end(interrupted: Boolean) {
collector.stopArm()
}

override fun isFinished(): Boolean = collector.atTop
}
9 changes: 9 additions & 0 deletions src/main/kotlin/org/frc5183/robot/constants/Constants.kt
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@@ -0,0 +1,9 @@
package org.frc5183.robot.constants

import edu.wpi.first.units.measure.Angle

object Constants {
val COLLECTOR_ARM_TOP: Angle
val COLLECTOR_ARM_BOTTOM: Angle
val COLLECTOR_ARM_DELTA: Angle
}
Comment on lines +5 to +9
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⚠️ Potential issue | 🔴 Critical

Uninitialized val properties will cause compilation error.

In Kotlin, val properties within an object declaration must be initialized. These three properties lack initializers, which will fail compilation.

🐛 Proposed fix: Initialize the constants with appropriate values 
 object Constants {
-    val COLLECTOR_ARM_TOP: Angle
-    val COLLECTOR_ARM_BOTTOM: Angle
-    val COLLECTOR_ARM_DELTA: Angle
+    val COLLECTOR_ARM_TOP: Angle = Units.Rotations.of(0.0) // TODO: Set actual top position
+    val COLLECTOR_ARM_BOTTOM: Angle = Units.Rotations.of(0.0) // TODO: Set actual bottom position
+    val COLLECTOR_ARM_DELTA: Angle = Units.Rotations.of(0.01) // TODO: Set actual tolerance
 }

You'll need to add the import:

import edu.wpi.first.units.Units
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@src/main/kotlin/org/frc5183/robot/constants/Constants.kt` around lines 5 - 9,
The three vals in the Constants object (COLLECTOR_ARM_TOP, COLLECTOR_ARM_BOTTOM,
COLLECTOR_ARM_DELTA) are declared without initializers and will not compile; fix
by assigning each an appropriate Angle value (e.g., using Units to convert
degrees/radians as required) and add the import edu.wpi.first.units.Units at the
top so you can construct the Angle constants (update the Constants object to
initialize COLLECTOR_ARM_TOP, COLLECTOR_ARM_BOTTOM, and COLLECTOR_ARM_DELTA with
concrete Angle expressions).

13 changes: 3 additions & 10 deletions src/main/kotlin/org/frc5183/robot/constants/Controls.kt
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@@ -1,29 +1,22 @@
package org.frc5183.robot.constants

import edu.wpi.first.wpilibj2.command.Command
import edu.wpi.first.wpilibj2.command.CommandScheduler
import edu.wpi.first.wpilibj2.command.button.CommandXboxController
import org.frc5183.robot.commands.drive.TeleopDriveCommand
import org.frc5183.robot.subsystems.drive.SwerveDriveSubsystem
import swervelib.SwerveInputStream
import kotlin.math.absoluteValue

object Controls {
val DRIVER_CONTROLLER: CommandXboxController = CommandXboxController(0)
val OPERATOR_CONTROLLER: CommandXboxController = CommandXboxController(1)

lateinit var TELEOP_DRIVE_COMMAND: TeleopDriveCommand
lateinit var DRIVE_COMMAND: Command

fun registerControls(drive: SwerveDriveSubsystem) {
CommandScheduler.getInstance().activeButtonLoop.clear()

TELEOP_DRIVE_COMMAND =
TeleopDriveCommand(
drive,
xInput = { if (DRIVER_CONTROLLER.leftX.absoluteValue < .2) 0.0 else DRIVER_CONTROLLER.leftX },
yInput = { if (DRIVER_CONTROLLER.leftY.absoluteValue < .2) 0.0 else DRIVER_CONTROLLER.leftY },
rotationInput = { 0.0 },
fieldRelative = false,
)

drive.defaultCommand = TELEOP_DRIVE_COMMAND
Comment on lines +15 to 20
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⚠️ Potential issue | 🔴 Critical

TELEOP_DRIVE_COMMAND is undefined; should use DRIVE_COMMAND.

Line 20 references TELEOP_DRIVE_COMMAND which doesn't exist. The declared property is DRIVE_COMMAND. This will fail compilation.

🐛 Proposed fix 
-        drive.defaultCommand = TELEOP_DRIVE_COMMAND
+        drive.defaultCommand = DRIVE_COMMAND
📝 Committable suggestion

‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change
lateinit var DRIVE_COMMAND: Command
fun registerControls(drive: SwerveDriveSubsystem) {
CommandScheduler.getInstance().activeButtonLoop.clear()
TELEOP_DRIVE_COMMAND =
TeleopDriveCommand(
drive,
xInput = { if (DRIVER_CONTROLLER.leftX.absoluteValue < .2) 0.0 else DRIVER_CONTROLLER.leftX },
yInput = { if (DRIVER_CONTROLLER.leftY.absoluteValue < .2) 0.0 else DRIVER_CONTROLLER.leftY },
rotationInput = { 0.0 },
fieldRelative = false,
)
drive.defaultCommand = TELEOP_DRIVE_COMMAND
lateinit var DRIVE_COMMAND: Command
fun registerControls(drive: SwerveDriveSubsystem) {
CommandScheduler.getInstance().activeButtonLoop.clear()
drive.defaultCommand = DRIVE_COMMAND
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@src/main/kotlin/org/frc5183/robot/constants/Controls.kt` around lines 15 -
20, The registerControls function is setting drive.defaultCommand to an
undefined symbol TELEOP_DRIVE_COMMAND; replace that reference with the declared
property DRIVE_COMMAND so the code compiles (update the assignment in
registerControls where drive.defaultCommand is set to use DRIVE_COMMAND instead
of TELEOP_DRIVE_COMMAND).

}
}
141 changes: 0 additions & 141 deletions src/main/kotlin/org/frc5183/robot/logging/AutoLogInputs.kt
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54 changes: 0 additions & 54 deletions src/main/kotlin/org/frc5183/robot/logging/struct/EstimatedRobotPoseStruct.kt
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