Riverboat rumble - #38
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* Use threshold checks for intake hopper angle Replace fuzzy isNear(...) checks with direct threshold comparisons for hopper position detection. isRetracted now returns true when angle >= 130° and isDeployed returns true when angle <= 1°, removing the previous ±10° tolerance and using deterministic one-sided thresholds. * Swap Driver Button * Build * Increase angle on isDeployed check by 100% * Added Extra Datapoints in Calibration for Shuttle --------- Co-authored-by: Kyle Heaton <kyle.f.heaton@gmail.com> Co-authored-by: 5010 Tiger Dynasty <roboticsteam.fhs@gmail.com>
…uilt2026 into Columbus-Integration
Columbus integration - Back to Rebuilt
Only run intake down when needed and timeout indexer
Pull Columbus Integration into Rebuilt
… into TheGrandFinale
… into TheGrandFinale Co-authored-by: Copilot <copilot@github.com>
… into TheGrandFinale
… into TheGrandFinale
The grand finale
Adjust simulation-specific SwerveModuleConstants: import ClosedLoopOutputType and switch both steer and drive closed-loop outputs to Voltage. Disable encoder offsets and motor/encoder inversions for sim, install sim‑tuned Voltage PID/gains for steer (kP=70, kV=1.91) and drive (light Voltage gains + feedforward), and raise friction voltages to better match maple-sim behavior. Expanded Javadoc explains rationale: real robot uses TorqueCurrentFOC (amps) from JSON which is not appropriate for Voltage closed-loop in simulation, so gains and output type are overridden; steer gear ratio is intentionally left to flow from JSON (previous hardcoded override removed).
The grand finale
Slowly runs the hood downward until the stator current stays above the stall threshold for a debounce period, then stops and resets the hood position to its minimum. Releasing the button before the stall aborts without re-zeroing. Replaces the turret-forward preset on operator Y; that preset remains available as the towerForwardPreset named command, and the full-power timed zeroing burst stays on the Back button. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Ld2MQQtGsEUdASxhCvjsu1
Comments out the driver Y-button field-orientation toggle in `Rebuilt` and updates `TurretKsMapCommand` completion logging to print copy/paste-ready `ksMapPositive`/`ksMapNegative` entries grouped by direction. Also includes minor comment/Javadoc formatting cleanup in command classes.
Calibrate physical and build parameters: adjust drive wheel radius and wheel diameters in pathplanner and robot JSONs to new measured values; update swerve drivetrain wheelDiameter. Bump build metadata (GIT_REVISION, GIT_SHA, GIT_DATE, GIT_BRANCH, BUILD_DATE, BUILD_UNIX_TIME) in BuildConstants. Apply launcher hardware calibration updates: change HARD_STOP angle and encoder40/36 offsets in LauncherIOReal. Also minor comment formatting in Rebuilt.java. These changes appear to be tuning/calibration updates to align software with current hardware and build state. Affected files: src/main/deploy/pathplanner/settings.json, src/main/deploy/rebuilt_robot/akit_swerve_drivetrain.json, src/main/deploy/rebuilt_robot/robot.json, src/main/java/frc/robot/BuildConstants.java, src/main/java/frc/robot/rebuilt/Rebuilt.java, src/main/java/frc/robot/rebuilt/subsystems/Launcher/LauncherIOReal.java.
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