pivotpivotpivot by gowri-k2010 · Pull Request #4 · yeti-robotics/akitty

gowri-k2010 · 2026-01-14T01:51:05Z

Pull Request Template

There may be some issues with this tbh, I had some trouble w my device, will make further changes for sure

Type of Change

Subsystem(s) Modified

Description of Changes

Additional Context

Checklist

Code follows team's coding standards
Comments added/updated where needed
Constants are properly named and documented
Subsystem requirements are documented
Command requirements are documented
Changes have been tested in simulation (if applicable)
Changes have been tested on the robot (if applicable)

Screenshots/Videos

samperlmutter

i'm not sure why this is reformatting everything? it doesn't look like the formatter has changed. i can't approve this in case it causes a bunch more format errors later. can you try and build the code on your computer, then commit all of that?

…ivotpivotpivot # Conflicts: # build.gradle # src/main/java/frc/robot/RobotContainer.java # src/main/java/frc/robot/subsystems/drive/Drive.java

samperlmutter

looks pretty good for the most part. the arm is the most complete. pivot missing some things. nothing is simulated either

samperlmutter · 2026-01-17T18:58:03Z

+    private TalonFXConfiguration motorConfig() {
+        return new TalonFXConfiguration()
+                .withSlot0(
+                        new Slot0Configs()
+                                .withGravityType(GravityTypeValue.Arm_Cosine)
+                                .withKD(0.0)
+                                .withKP(0.0)
+                                .withKI(0.0)
+                                .withKG(0.0)
+                                .withKS(0.0)
+                                .withKV(0.0))
+                .withCurrentLimits(
+                        new CurrentLimitsConfigs()
+                                .withStatorCurrentLimit(0.0)
+                                .withSupplyCurrentLimit(0.0)
+                                .withStatorCurrentLimitEnable(true)
+                                .withSupplyCurrentLimitEnable(true));
+    }


this should be moved to a PivotConfig class

samperlmutter · 2026-01-17T19:00:07Z

+    PivotDown((0.0)),
+    PivotUp((0.0)),
+    position(0),
+    PivotStowed((0.25));


not sure what the position enum is for. these also don't really all need Pivot at the beginning since they are on the PivotPos enum.
Consider the difference between referencing them:
PivotPos.PivotDown
vs
PivotPos.Down

samperlmutter · 2026-01-17T19:06:22Z

+                                    .withMagnetOffset(magnetOffset)
+                                    .withAbsoluteSensorDiscontinuityPoint(0.625));
+
+    //    public static final int ARM_KRAKEN_ID = 21;


looks like you can delete all this commented out code

Co-authored-by: Sam Perlmutter <sam.perlmutter227@gmail.com>

…ivotpivotpivot

…pivot

…otpivot # Conflicts: # src/main/java/frc/robot/RobotContainer.java

…tcontainer

taran-duba

looks much better! still a few changes left to do

…tcontainer

taran-duba

almost there! i think you may have accidentally resolved one of my previous comments before actually making the change so please address that!

samperlmutter

looking pretty good. few clean up stuff left

… made a quick edit)

prthik

so close!

prthik · 2026-02-07T18:29:00Z

+    }
+
+    public Command setPositionCommand(PivotPos pivotPos) {
+        return runEnd(() -> setPosition(pivotPos), io::stop);


I would advise you to use a control request. You're not moving the motor!

prthik · 2026-02-07T18:29:14Z

+    }
+
+    public Command applyPowerCommand(double power) {
+        return runEnd(() -> io.applyPower(power), io::stop);


drewbxyz · 2026-02-25T14:07:39Z

@frc-reviewer

github-actions · 2026-02-25T14:08:12Z

FRC Code Review

PR Goal: Add a pivot subsystem powered by a TalonFX with an integrated CANcoder, integrate it into robot code, rework controller button bindings, and provide a physics simulation framework for the pivot. The PR removes the old intakeFeederwheel and flywheel subsystems and replaces them with the new pivot system.

Summary

🔴 Critical: 0
🟡 Warnings: 1
🔵 Suggestions: 0

Files Changed

simgui-ds.json: Updated simulator dashboard JSON to expose Keyboard 0 settings, set its GUID to a deterministic UUID, and enable it as a gamepad.
src/main/java/frc/robot/RobotContainer.java ⭐: Removed intakeFeederwheel and flywheel subsystems, added a new PivotSubsystem. Updated subsystem initialization for real, simulator, and replay modes. Rewrote imports, removed unused JoystickButton reference. Reconfigured controller bindings – left bumper triggers pivot down, right trigger triggers pivot up – replacing previous intake/flywheel controls. Minor comment adjustments.
src/main/java/frc/robot/constants/Constants.java: Added a string constant for the RIO bus name.
src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java: Removed an unused import for VoltageOut.
src/main/java/frc/robot/subsystems/pivot/PivotConfigs.java ⭐: Created constants and configuration objects for the pivot motor and CANcoder, including PID slots, motion magic settings, feedback, motor output, and current limits.
src/main/java/frc/robot/subsystems/pivot/PivotIO.java ⭐: Introduced a PivotIO interface with default methods for updating inputs, setting position, applying power, setting control requests, and stopping the motor.
src/main/java/frc/robot/subsystems/pivot/PivotPos.java ⭐: Added an enum to represent pivot positions (Down and Up) with conversion to radians.
src/main/java/frc/robot/subsystems/pivot/PivotSubsystem.java ⭐: Implemented the pivot subsystem: manages PivotIO, logs inputs, provides methods to set position or power, and exposes command wrappers for both actions.
src/main/java/frc/robot/subsystems/pivot/PivotTalonFX.java ⭐: Concrete PivotIO implementation using a TalonFX motor and a CANcoder sensor, applies configurations, supports simulation by adding the motor to PhysicsSim.
src/main/java/frc/robot/util/PhysicsSim.java ⭐: Added a singleton physics simulation manager that tracks simulated devices, offers add methods, and runs per-tick updates. Introduces a base SimProfile class with timing logic.
src/main/java/frc/robot/util/TalonFXSimProfile.java ⭐: Defines a simulation profile for TalonFX devices using a DCMotorSim, integrating simulated sensor state handling; added to PhysicsSim.

Issues Found

🟡 WARNING in src/main/java/frc/robot/subsystems/pivot/PivotConfigs.java:6 (hardware configuration)

Set gearRatio to the actual gear reduction for the pivot mechanism (e.g., 1.0 for 1:1) or calculate the correct value based on the gearing.

github-actions · 2026-02-25T14:08:13Z

+import com.ctre.phoenix6.signals.GravityTypeValue;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.signals.SensorDirectionValue;


[WARNING] Set gearRatio to the actual gear reduction for the pivot mechanism (e.g., 1.0 for 1:1) or calculate the correct value based on the gearing.

Skill: hardware configuration

Faten848 and others added 8 commits December 11, 2025 00:15

its almost done and it builds at least

87e875d

robotcontainer fixed

765ae15

fix logging bugs, and some configs

d32411d

cancoder configsss

1e60f4d

armiosim

8457061

simsimsimsim

46b2e0c

added the pivot sub

55bf3d8

added the pivot sub

81f2cac

gowri-k2010 requested a review from a team as a code owner January 14, 2026 01:51

samperlmutter requested changes Jan 14, 2026

View reviewed changes

gowri-k2010 requested review from samperlmutter and removed request for samperlmutter January 16, 2026 01:48

gowri-k2010 added 5 commits January 17, 2026 13:20

pivot pivot pivot

c869866

pivot pivot pivot

3ad38bf

pivot pivot pivot

6c87ebc

fix formatting

2511c97

Merge branch 'main' of https://github.com/yeti-robotics/akitty into p…

31e8a8b

…ivotpivotpivot # Conflicts: # build.gradle # src/main/java/frc/robot/RobotContainer.java # src/main/java/frc/robot/subsystems/drive/Drive.java

samperlmutter requested changes Jan 17, 2026

View reviewed changes

gowri-k2010 and others added 5 commits January 17, 2026 14:14

Update src/main/java/frc/robot/subsystems/pivot/PivotTalonFX.java

66cc170

Co-authored-by: Sam Perlmutter <sam.perlmutter227@gmail.com>

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

a70afa4

Co-authored-by: Sam Perlmutter <sam.perlmutter227@gmail.com>

Merge branch 'main' of https://github.com/yeti-robotics/akitty into p…

a4000ff

…ivotpivotpivot

pivot/arm changes

823fc9f

Merge remote-tracking branch 'origin/pivotpivotpivot' into pivotpivot…

19207a8

…pivot

gowri-k2010 requested a review from samperlmutter January 17, 2026 22:02

pivot/arm changes (again bc i messed up)

0d39398

gowri-k2010 requested review from samperlmutter and removed request for samperlmutter January 17, 2026 22:09

gowri-k2010 marked this pull request as draft January 18, 2026 01:34

gowri-k2010 self-assigned this Jan 18, 2026

gowri-k2010 added 5 commits January 24, 2026 13:23

pivot only

7e0556f

Merge remote-tracking branch 'refs/remotes/origin/main' into pivotpiv…

c8b24d9

…otpivot # Conflicts: # src/main/java/frc/robot/RobotContainer.java

pivot only

4017dc5

pivot only

7d4886a

pivot subsystem, modified changes (joshika is now working on the arm)

fdea006

taran-duba requested changes Jan 31, 2026

View reviewed changes

pivot subsystem, yet to add values. Changes some units and fixed robo…

d477e5f

…tcontainer

taran-duba requested changes Jan 31, 2026

View reviewed changes

gowri-k2010 added 2 commits January 31, 2026 14:28

pivot subsystem, yet to add values. Changes some units and fixed robo…

fe83b74

…tcontainer

pivot subsystem, even more changes ><

9ade4f9

taran-duba requested changes Jan 31, 2026

View reviewed changes

pivot subsystem, values added

6dc7af6

samperlmutter requested changes Feb 4, 2026

View reviewed changes

gowri-k2010 added 2 commits February 3, 2026 20:03

pivot subsystem, changes made in TalonFX mainly

6007363

pivot subsystem, changes made in TalonFX mainly(missed one thing so i…

aa6f386

… made a quick edit)

prthik requested changes Feb 7, 2026

View reviewed changes

pivot subsystem: replaced commands with control requests

2a4aa3c

gowri-k2010 requested review from prthik, samperlmutter and taran-duba February 7, 2026 21:49

boomermath reviewed Feb 7, 2026

View reviewed changes

gowri-k2010 added 3 commits February 13, 2026 18:15

pivot subsystem: typos fixed

d2d1d12

pivot----fixed unused parts

614e3ef

pivot changes made once again!

dec8fd0

github-actions Bot reviewed Feb 25, 2026

View reviewed changes

gowri-k2010 added 3 commits February 28, 2026 14:17

fixed pivot gear ratios

72ef75f

fixed additional errors for the pivot

37faf54

fixed additional errors for the pivot

1bbf583

Conversation

gowri-k2010 commented Jan 14, 2026

Pull Request Template

Type of Change

Subsystem(s) Modified

Description of Changes

Additional Context

Checklist

Screenshots/Videos

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