Stefan/code cleaning

src/main/java/com/team2813/Constants.java

@@ -20,8 +20,8 @@ public final class Constants {
   // CAN IDs - All directions are from when the robot is viewed from behind, unless otherwise
   // stated.
   // Roller Motors. Aliases: Feeder motors, Magazine motors
-  public static final int MAIN_FEEDER_MOTOR_CAN_ID = 25; // Top roller motor.
-  public static final int FOLLOWER_FEEDER_MOTOR_CAN_ID = 15; // Bottom roller motor.
+  // These force balls from the hopper into the shooter.
+  public static final int FEEDER_MOTOR_CAN_ID = 25; // Feeder motor.
 
   // Indexer Motors. Aliases: Vectoring motors
   public static final int INDEXER_MOTOR_ID = 24;

src/main/java/com/team2813/subsystems/hopper/HopperConstants.java

@@ -5,6 +5,7 @@
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.signals.InvertedValue;
 import edu.wpi.first.units.measure.Voltage;
@@ -39,24 +40,15 @@ public static Voltage getFeederOuttakeVoltage() {
     return Volts.of(Preferences.getDouble(FEEDER_OUTTAKE_VOLTAGE_NT, -6));
   }
 
-  // TOP
-  public static final TalonFXConfiguration MAIN_ROLLER_MOTOR_CONFIG =
+  // The motor on the bottom feeders.
+  public static final TalonFXConfiguration FEEDER_MOTOR_CONFIG =
       new TalonFXConfiguration()
           .withMotorOutput(new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive))
           .withCurrentLimits(
               new CurrentLimitsConfigs()
                   .withSupplyCurrentLimit(Amps.of(30))
-                  .withStatorCurrentLimit(Amps.of(60)));
-
-  // Bottom Motor, opposite of main motor.
-  public static final TalonFXConfiguration FOLLOWER_FEEDER_MOTOR_CONFIG =
-      new TalonFXConfiguration()
-          .withMotorOutput(
-              new MotorOutputConfigs().withInverted(InvertedValue.CounterClockwise_Positive))
-          .withCurrentLimits(
-              new CurrentLimitsConfigs()
-                  .withSupplyCurrentLimit(Amps.of(30))
-                  .withStatorCurrentLimit(Amps.of(60)));
+                  .withStatorCurrentLimit(Amps.of(60)))
+          .withSlot0(new Slot0Configs().withKS(0.2).withKV(0.116));
 
   // TODO: Change this later to the actual number.
   public static final double FEEDER_MOTOR_TO_ROLLER_GEARING = 1;

src/main/java/com/team2813/subsystems/hopper/HopperIO.java

@@ -13,10 +13,10 @@ public interface HopperIO {
   @AutoLog
   class HopperIOInputs {
     // Roller/Magazine
-    public Voltage mainFeederMotorVoltage = Volts.of(0);
-    public AngularVelocity mainFeederMotorRPS = RotationsPerSecond.of(0);
-    public Current mainFeederMotorStatorCurrent = Amps.of(0);
-    public Current mainFeederMotorSupplyCurrent = Amps.of(0);
+    public Voltage feederMotorVoltage = Volts.of(0);
+    public AngularVelocity feederMotorRPS = RotationsPerSecond.of(0);
+    public Current feederMotorStatorCurrent = Amps.of(0);
+    public Current feederMotorSupplyCurrent = Amps.of(0);
   }
 
   /**

src/main/java/com/team2813/subsystems/hopper/HopperIOReal.java

@@ -12,45 +12,44 @@
 import edu.wpi.first.units.measure.Voltage;
 
 public class HopperIOReal implements HopperIO {
-  private final TalonFX mainFeederMotor; // Top magazine motor.
+  private final TalonFX feederMotor; // Top magazine motor.
 
   // Prep the fields we will log for each motor.
   // By having a status signal stored, we can refresh all the motor values at once.
   // Before, we would refresh all the motor values just to get one value, causing a performance
   // issue.
-  StatusSignal<Voltage> mainFeederVoltage;
-  StatusSignal<AngularVelocity> mainFeederRPS;
-  StatusSignal<Current> mainFeederStatorCurrent; // Motor Control to Stator
-  StatusSignal<Current> mainFeederSupplyCurrent; // Battery to Stator
+  StatusSignal<Voltage> feederVoltage;
+  StatusSignal<AngularVelocity> feederRPS;
+  StatusSignal<Current> feederStatorCurrent; // Motor Control to Stator
+  StatusSignal<Current> feederSupplyCurrent; // Battery to Stator
 
   public HopperIOReal() {
-    mainFeederMotor = new TalonFX(Constants.MAIN_FEEDER_MOTOR_CAN_ID);
-    mainFeederMotor.getConfigurator().apply(HopperConstants.MAIN_ROLLER_MOTOR_CONFIG);
+    feederMotor = new TalonFX(Constants.FEEDER_MOTOR_CAN_ID);
+    feederMotor.getConfigurator().apply(HopperConstants.FEEDER_MOTOR_CONFIG);
 
-    mainFeederVoltage = mainFeederMotor.getMotorVoltage();
-    mainFeederRPS = mainFeederMotor.getRotorVelocity();
-    mainFeederStatorCurrent = mainFeederMotor.getStatorCurrent();
-    mainFeederSupplyCurrent = mainFeederMotor.getSupplyCurrent();
+    feederVoltage = feederMotor.getMotorVoltage();
+    feederRPS = feederMotor.getRotorVelocity();
+    feederStatorCurrent = feederMotor.getStatorCurrent();
+    feederSupplyCurrent = feederMotor.getSupplyCurrent();
 
     BaseStatusSignal.setUpdateFrequencyForAll(
-        50, mainFeederVoltage, mainFeederRPS, mainFeederStatorCurrent, mainFeederSupplyCurrent);
+        50, feederVoltage, feederRPS, feederStatorCurrent, feederSupplyCurrent);
 
-    ParentDevice.optimizeBusUtilizationForAll(mainFeederMotor);
+    ParentDevice.optimizeBusUtilizationForAll(feederMotor);
   }
 
   @Override
   public void updateState(HopperIOInputs inputs) {
-    BaseStatusSignal.refreshAll(
-        mainFeederVoltage, mainFeederRPS, mainFeederStatorCurrent, mainFeederSupplyCurrent);
+    BaseStatusSignal.refreshAll(feederVoltage, feederRPS, feederStatorCurrent, feederSupplyCurrent);
 
-    inputs.mainFeederMotorVoltage = mainFeederVoltage.getValue();
-    inputs.mainFeederMotorRPS = mainFeederRPS.getValue();
-    inputs.mainFeederMotorStatorCurrent = mainFeederStatorCurrent.getValue();
-    inputs.mainFeederMotorSupplyCurrent = mainFeederSupplyCurrent.getValue();
+    inputs.feederMotorVoltage = feederVoltage.getValue();
+    inputs.feederMotorRPS = feederRPS.getValue();
+    inputs.feederMotorStatorCurrent = feederStatorCurrent.getValue();
+    inputs.feederMotorSupplyCurrent = feederSupplyCurrent.getValue();
   }
 
   @Override
   public void setMotorVoltage(Voltage rollerVoltage, Voltage feederVoltage) {
-    mainFeederMotor.setVoltage(rollerVoltage.in(Volts));
+    feederMotor.setVoltage(rollerVoltage.in(Volts));
   }
 }

src/main/java/com/team2813/subsystems/hopper/HopperIOSim.java

@@ -13,18 +13,16 @@
 public class HopperIOSim implements HopperIO {
 
   // Roller Motor simulation declaration.
-  private final TalonFX mainFeederMotor;
-  private final TalonFXSimState mainFeederMotorSimState;
+  private final TalonFX feederMotor;
+  private final TalonFXSimState feederMotorSimState;
 
   private final FlywheelSim feederSim; // Used for simulating voltage of the roller.
 
   public HopperIOSim() {
-    mainFeederMotor = new TalonFX(Constants.MAIN_FEEDER_MOTOR_CAN_ID);
-    mainFeederMotor.getConfigurator().apply(HopperConstants.MAIN_ROLLER_MOTOR_CONFIG);
-    mainFeederMotorSimState = mainFeederMotor.getSimState();
+    feederMotor = new TalonFX(Constants.FEEDER_MOTOR_CAN_ID);
+    feederMotor.getConfigurator().apply(HopperConstants.FEEDER_MOTOR_CONFIG);
+    feederMotorSimState = feederMotor.getSimState();
 
-    // The "0.01" value is the moment of inertia, as the CAD is not complete, a more accurate value
-    // is unavailable.
     feederSim =
         new FlywheelSim(
             LinearSystemId.createFlywheelSystem(
@@ -38,26 +36,26 @@ public HopperIOSim() {
   public void updateState(HopperIOInputs inputs) {
     updateSimulation();
 
-    mainFeederMotorSimState.setSupplyVoltage(Volts.of(12));
+    feederMotorSimState.setSupplyVoltage(Volts.of(12));
 
-    inputs.mainFeederMotorVoltage = mainFeederMotor.getMotorVoltage().getValue();
-    inputs.mainFeederMotorRPS = mainFeederMotor.getRotorVelocity().getValue();
-    inputs.mainFeederMotorStatorCurrent = mainFeederMotor.getStatorCurrent().getValue();
-    inputs.mainFeederMotorSupplyCurrent = mainFeederMotor.getSupplyCurrent().getValue();
+    inputs.feederMotorVoltage = feederMotor.getMotorVoltage().getValue();
+    inputs.feederMotorRPS = feederMotor.getRotorVelocity().getValue();
+    inputs.feederMotorStatorCurrent = feederMotor.getStatorCurrent().getValue();
+    inputs.feederMotorSupplyCurrent = feederMotor.getSupplyCurrent().getValue();
   }
 
   public void updateSimulation() {
     feederSim.update(Constants.SIM_TIME_PERIOD);
 
     // Feed the velocity and acceleration of the roller simulation into the simulation motors to
     // accurately model them.
-    mainFeederMotorSimState.setRotorAcceleration(feederSim.getAngularAcceleration());
-    mainFeederMotorSimState.setRotorVelocity(feederSim.getAngularVelocity());
+    feederMotorSimState.setRotorAcceleration(feederSim.getAngularAcceleration());
+    feederMotorSimState.setRotorVelocity(feederSim.getAngularVelocity());
   }
 
   @Override
   public void setMotorVoltage(Voltage rollerVoltage, Voltage feederVoltage) {
     // Rollers
-    mainFeederMotor.setVoltage(rollerVoltage.in(Volts));
+    feederMotor.setVoltage(rollerVoltage.in(Volts));
   }
 }

vendordeps/AdvantageKit.json

@@ -1,7 +1,7 @@
 {
   "fileName": "AdvantageKit.json",
   "name": "AdvantageKit",
-  "version": "26.0.0",
+  "version": "26.0.2",
   "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
   "frcYear": "2026",
   "mavenUrls": [
@@ -12,14 +12,14 @@
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-java",
-      "version": "26.0.0"
+      "version": "26.0.2"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-wpilibio",
-      "version": "26.0.0",
+      "version": "26.0.2",
       "skipInvalidPlatforms": false,
       "isJar": false,
       "validPlatforms": [