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Subsystem Wrapper #27

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62014a5
Lots of code, but no tests 👍👍👍
Strflightmight09 Oct 14, 2025
a006a2e
Things changed
Strflightmight09 Oct 14, 2025
7feb7aa
Update PoseEstimator.java
ShmayaR Nov 30, 2025
fa22f14
added a bunch of numbers
ShmayaR Nov 30, 2025
0daebb1
Revert "added a bunch of numbers"
ShmayaR Nov 30, 2025
8170a19
Revert "Update PoseEstimator.java"
ShmayaR Nov 30, 2025
30c3266
Merge branch 'main' into subsystem-wrapper
ShmayaR Nov 30, 2025
dd80c61
resolved conflicts
ShmayaR Nov 30, 2025
7da9a38
Merge branch 'main' into subsystem-wrapper
ShmayaR Nov 30, 2025
f4e5526
resolved conflicts
ShmayaR Nov 30, 2025
22e0e7b
Merge branch 'main' into subsystem-wrapper
ShmayaR Jan 5, 2026
f5357a2
Merge branch 'main' into subsystem-wrapper
ShmayaR Jan 5, 2026
2d96e0b
set submodule to subsystem wrapper branch
ShmayaR Jan 5, 2026
a1684ed
Update lib
ShmayaR Jan 8, 2026
1328b40
Update lib
ShmayaR Jan 8, 2026
7d1000c
subsystem examples
ShmayaR Jan 12, 2026
babc616
Update keyboard_to_nt.py
noamgreen12 Jan 12, 2026
546c41d
Merge branch 'main' into subsystem-wrapper
Strflightmight09 Jan 13, 2026
96fc178
Update lib
Strflightmight09 Jan 13, 2026
8984bf3
prototype settings
noamgreen12 Jan 13, 2026
f75464c
Merge branch 'subsystem-wrapper' of https://github.com/Programming-TR…
noamgreen12 Jan 13, 2026
d39b117
prototype
noamgreen12 Jan 13, 2026
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1 change: 1 addition & 0 deletions .gitmodules
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
[submodule "src/main/java/frc/trigon/lib"]
path = src/main/java/frc/trigon/lib
url = https://github.com/Programming-TRIGON/TRIGONLib
branch = subsystem-wrapper
2 changes: 1 addition & 1 deletion src/main/java/frc/trigon/lib
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Submodule lib updated 13 files
+4 −4 hardware/phoenix6/pigeon2/Pigeon2Gyro.java
+1 −1 hardware/phoenix6/pigeon2/Pigeon2IO.java
+5 −5 hardware/phoenix6/pigeon2/io/SimulationPigeon2IO.java
+171 −0 subsystems/MotorSubsystem.java
+188 −0 subsystems/arm/ArmSubsystem.java
+56 −0 subsystems/arm/ArmSubsystemCommands.java
+81 −0 subsystems/arm/ArmSubsystemConfiguration.java
+196 −0 subsystems/elevator/ElevatorSubsystem.java
+43 −0 subsystems/elevator/ElevatorSubsystemCommands.java
+73 −0 subsystems/elevator/ElevatorSubsystemConfiguration.java
+172 −0 subsystems/flywheel/SimpleMotorSubsystem.java
+42 −0 subsystems/flywheel/SimpleMotorSubsystemCommands.java
+57 −0 subsystems/flywheel/SimpleMotorSubsystemConfiguration.java
20 changes: 15 additions & 5 deletions src/main/java/frc/trigon/robot/RobotContainer.java
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Expand Up @@ -9,8 +9,10 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.trigon.lib.subsystems.MotorSubsystem;
import frc.trigon.lib.subsystems.flywheel.SimpleMotorSubsystem;
import frc.trigon.lib.subsystems.flywheel.SimpleMotorSubsystemCommands;
import frc.trigon.lib.utilities.flippable.Flippable;
import frc.trigon.robot.commands.CommandConstants;
import frc.trigon.robot.commands.commandfactories.GeneralCommands;
import frc.trigon.robot.constants.AutonomousConstants;
import frc.trigon.robot.constants.CameraConstants;
Expand All @@ -19,7 +21,8 @@
import frc.trigon.robot.misc.objectdetectioncamera.ObjectPoseEstimator;
import frc.trigon.robot.misc.simulatedfield.SimulatedGamePieceConstants;
import frc.trigon.robot.poseestimation.poseestimator.PoseEstimator;
import frc.trigon.robot.subsystems.MotorSubsystem;
import frc.trigon.robot.subsystems.flyWheel.FlyWheel;
import frc.trigon.robot.subsystems.flyWheel.FlyWheelConstants;
Comment on lines +24 to +25
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🧹 Nitpick | 🔵 Trivial

Package name flyWheel should be lowercase.

Java package naming convention uses all lowercase. Consider renaming to flywheel for consistency.

import frc.trigon.robot.subsystems.swerve.Swerve;
import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;

Expand All @@ -32,6 +35,9 @@ public class RobotContainer {
CameraConstants.OBJECT_DETECTION_CAMERA
);
public static final Swerve SWERVE = new Swerve();
// public static final ArmSubsystem ARM = new Arm();
// public static final ElevatorSubsystem ELEVATOR = new Elevator();
public static final SimpleMotorSubsystem FLY_WHEEL = new FlyWheel();
private LoggedDashboardChooser<Command> autoChooser;

public RobotContainer() {
Expand All @@ -54,12 +60,16 @@ private void configureBindings() {

private void bindDefaultCommands() {
SWERVE.setDefaultCommand(GeneralCommands.getFieldRelativeDriveCommand());
// ARM.setDefaultCommand(ArmSubsystemCommands.getSetTargetStateCommand(ArmConstants.ArmState.REST, ARM));
// ELEVATOR.setDefaultCommand(ElevatorSubsystemCommands.getSetTargetStateCommand(ElevatorConstants.ElevatorState.REST,ELEVATOR));
FLY_WHEEL.setDefaultCommand(SimpleMotorSubsystemCommands.getSetTargetStateCommand(FlyWheelConstants.FlyWheelState.REST, FLY_WHEEL));
}

private void bindControllerCommands() {
OperatorConstants.RESET_HEADING_TRIGGER.onTrue(CommandConstants.RESET_HEADING_COMMAND);
OperatorConstants.DRIVE_FROM_DPAD_TRIGGER.whileTrue(CommandConstants.SELF_RELATIVE_DRIVE_FROM_DPAD_COMMAND);
OperatorConstants.TOGGLE_BRAKE_TRIGGER.onTrue(GeneralCommands.getToggleBrakeCommand());
// OperatorConstants.RESET_HEADING_TRIGGER.onTrue(CommandConstants.RESET_HEADING_COMMAND);
// OperatorConstants.DRIVE_FROM_DPAD_TRIGGER.whileTrue(CommandConstants.SELF_RELATIVE_DRIVE_FROM_DPAD_COMMAND);
// OperatorConstants.TOGGLE_BRAKE_TRIGGER.onTrue(GeneralCommands.getToggleBrakeCommand());
OperatorConstants.INTAKE_TRIGGER.whileTrue(SimpleMotorSubsystemCommands.getSetTargetStateCommand(FlyWheelConstants.FlyWheelState.INTAKE, FLY_WHEEL));
}

private void configureSysIDBindings(MotorSubsystem subsystem) {
Expand Down
4 changes: 2 additions & 2 deletions src/main/java/frc/trigon/robot/commands/commandfactories/GeneralCommands.java
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Expand Up @@ -3,8 +3,8 @@
import edu.wpi.first.wpilibj2.command.*;
import frc.trigon.robot.commands.CommandConstants;
import frc.trigon.robot.constants.OperatorConstants;
import frc.trigon.robot.subsystems.MotorSubsystem;
import frc.trigon.robot.subsystems.swerve.SwerveCommands;
import frc.trigon.lib.subsystems.MotorSubsystem;

import java.util.function.BooleanSupplier;

Expand All @@ -14,7 +14,7 @@
*/
public class GeneralCommands {
public static Command getFieldRelativeDriveCommand() {
return SwerveCommands.getClosedLoopFieldRelativeDriveCommand(
return SwerveCommands.getOpenLoopFieldRelativeDriveCommand(
() -> CommandConstants.calculateDriveStickAxisValue(OperatorConstants.DRIVER_CONTROLLER.getLeftY()),
() -> CommandConstants.calculateDriveStickAxisValue(OperatorConstants.DRIVER_CONTROLLER.getLeftX()),
() -> CommandConstants.calculateDriveStickAxisValue(OperatorConstants.DRIVER_CONTROLLER.getRightX())
Expand Down
6 changes: 4 additions & 2 deletions src/main/java/frc/trigon/robot/constants/OperatorConstants.java
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Expand Up @@ -5,12 +5,13 @@
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.trigon.lib.hardware.misc.KeyboardController;
import frc.trigon.lib.hardware.misc.XboxController;
import frc.trigon.robot.commands.commandclasses.IntakeAssistCommand;
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🧹 Nitpick | 🔵 Trivial

Unused import.

IntakeAssistCommand is imported but not referenced anywhere in this file. Remove it to keep imports clean.


import java.util.function.DoubleUnaryOperator;

public class OperatorConstants {
public static final double DRIVER_CONTROLLER_DEADBAND = 0.07;
private static final int DRIVER_CONTROLLER_PORT = 0;
private static final int DRIVER_CONTROLLER_PORT = 1;
private static final int
DRIVER_CONTROLLER_RIGHT_STICK_EXPONENT = 1,
DRIVER_CONTROLLER_LEFT_STICK_EXPONENT = 2;
Expand Down Expand Up @@ -43,5 +44,6 @@ public class OperatorConstants {
FORWARD_QUASISTATIC_CHARACTERIZATION_TRIGGER = OPERATOR_CONTROLLER.right(),
BACKWARD_QUASISTATIC_CHARACTERIZATION_TRIGGER = OPERATOR_CONTROLLER.left(),
FORWARD_DYNAMIC_CHARACTERIZATION_TRIGGER = OPERATOR_CONTROLLER.up(),
BACKWARD_DYNAMIC_CHARACTERIZATION_TRIGGER = OPERATOR_CONTROLLER.down();
BACKWARD_DYNAMIC_CHARACTERIZATION_TRIGGER = OPERATOR_CONTROLLER.down(),
INTAKE_TRIGGER = DRIVER_CONTROLLER.leftTrigger();
}
171 changes: 0 additions & 171 deletions src/main/java/frc/trigon/robot/subsystems/MotorSubsystem.java
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This file was deleted.

12 changes: 12 additions & 0 deletions src/main/java/frc/trigon/robot/subsystems/arm/Arm.java
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@@ -0,0 +1,12 @@
package frc.trigon.robot.subsystems.arm;

import edu.wpi.first.math.geometry.Pose3d;
import frc.trigon.lib.hardware.phoenix6.talonfx.TalonFXMotor;
import frc.trigon.lib.subsystems.arm.ArmSubsystem;
import frc.trigon.lib.subsystems.arm.ArmSubsystemConfiguration;
Comment on lines +4 to +6
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🧹 Nitpick | 🔵 Trivial

Remove unused imports.

TalonFXMotor and ArmSubsystemConfiguration are not used in this file.

Suggested fix 
 package frc.trigon.robot.subsystems.arm;

 import edu.wpi.first.math.geometry.Pose3d;
-import frc.trigon.lib.hardware.phoenix6.talonfx.TalonFXMotor;
 import frc.trigon.lib.subsystems.arm.ArmSubsystem;
-import frc.trigon.lib.subsystems.arm.ArmSubsystemConfiguration;

 public class Arm extends ArmSubsystem {
📝 Committable suggestion

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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 frc.trigon.lib.hardware.phoenix6.talonfx.TalonFXMotor;
import frc.trigon.lib.subsystems.arm.ArmSubsystem;
import frc.trigon.lib.subsystems.arm.ArmSubsystemConfiguration;
package frc.trigon.robot.subsystems.arm;
import edu.wpi.first.math.geometry.Pose3d;
import frc.trigon.lib.subsystems.arm.ArmSubsystem;
public class Arm extends ArmSubsystem {


public class Arm extends ArmSubsystem {
public Arm() {
super(ArmConstants.MASTER_MOTOR, ArmConstants.ARM_CONFIG, new Pose3d());
}
}
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