13 turret initial code by PillageDev · Pull Request #20 · Team293/Rebuilt

PillageDev · 2026-02-20T02:43:31Z

Initial turret code with CRT controlling a table top turret. This is transferrable to the actual turret, just need to change a few variables for CRT.

Closes #13

…nputs

…ebuilt into 13-turret-initial-code # Conflicts: # src/main/java/frc/robot/subsystems/turret/Turret.java # src/main/java/frc/robot/subsystems/turret/TurretIOSensorInputs.java

…ebuilt into 13-turret-initial-code

…hot compensation logic

# Conflicts: # src/main/java/frc/robot/CanID.java # src/main/java/frc/robot/RobotContainer.java # src/main/java/frc/robot/subsystems/vision/Vision.java # src/main/java/frc/robot/subsystems/vision/photon/Camera.java

src/main/java/frc/robot/subsystems/turret/calc/ShotCompensation.java

src/main/java/frc/robot/subsystems/turret/calc/ShotData.java

src/main/java/frc/robot/subsystems/turret/calc/TurretMath.java

src/main/java/frc/robot/subsystems/turret/Turret.java

src/main/java/frc/robot/subsystems/turret/TurretIO.java

src/main/java/frc/robot/subsystems/turret/TurretIOSensorInputs.java

src/main/java/frc/robot/subsystems/vision/photon/Camera.java

src/main/java/frc/robot/Robot.java

src/main/deploy/pathplanner/navgrid.json

src/main/deploy/vision/FRC2026_WELDED.fmap

src/main/java/frc/lib/Elastic.java

.idea/copilot.data.migration.edit.xml

src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.java

src/main/java/frc/robot/subsystems/turret/calc/ShotCompensation.java

src/main/java/frc/robot/subsystems/turret/calc/TurretMath.java

src/main/java/frc/robot/subsystems/turret/Turret.java

src/main/java/frc/robot/subsystems/turret/TurretIOTalonFX.java

src/main/java/frc/robot/BuildConstants.java

src/main/java/frc/robot/Constants.java

src/main/java/frc/robot/Robot.java

src/main/java/frc/lib/LowPassFilter.java

src/main/java/frc/robot/subsystems/turret/calc/ShotCompensation.java

src/main/java/frc/robot/subsystems/turret/TurretIOTalonFX.java

bjmcternan

Some cleanup we can do. Might be best to discuss it in a huddle

src/main/java/frc/robot/subsystems/turret/TurretIOSensorInputs.java

This reverts commit 1abef26.

This reverts commit 07ba2b5.

* Add shooter subsystem with shot compensation logic and CAN ID updates * Add shooter subsystem initialization in RobotContainer * Refactor shooter and turret subsystems to use new Targeting subsystem and remove old pubsub system * Integrate shooter and turret dependencies into indexer subsystem and enhance ball feeding logic

src/main/java/frc/robot/subsystems/shooter/Shooter.java

src/main/java/frc/robot/subsystems/shooter/ShooterIOTalonFX.java

src/main/java/frc/robot/subsystems/targeting/Targeting.java

src/main/java/frc/robot/subsystems/turret/Turret.java

Co-authored-by: Brennan <bjmcternan@users.noreply.github.com>

bjmcternan · 2026-02-28T17:26:21Z

We just sat down and went over this code. I think this looks good now. There's some outstanding tasks that we need to address but this is a good start to get into develop.

bjmcternan

Looks good

Stale, will address comments in another PR. Thanks

…ebuilt into 13-turret-initial-code

bjmcternan

Looks good

ImSpxrsh

Looks good

NathanEdg and others added 11 commits January 28, 2026 16:26

Add initial turret subsystem implementation with CAN IDs and sensor i…

5cf55bd

…nputs

merge branch

cd2ed46

Add initial turret subsystem implementation with CAN IDs and sensor i…

662527b

…nputs

Implement CRT and added controller capabilities for testing

4d09149

Turret rotation with motion magic profiler

d3da2de

Add angle filtering and shot compensation for turret subsystem

b4013a4

Merge branch '13-turret-initial-code' of https://github.com/Team293/R…

c47c7be

…ebuilt into 13-turret-initial-code # Conflicts: # src/main/java/frc/robot/subsystems/turret/Turret.java # src/main/java/frc/robot/subsystems/turret/TurretIOSensorInputs.java

Aim to point

0029e57

Merge branch '13-turret-initial-code' of https://github.com/Team293/R…

b915541

…ebuilt into 13-turret-initial-code

Refactor turret subsystem: remove controller dependency and improve s…

1ec5421

…hot compensation logic

Merge branch 'develop' into 13-turret-initial-code

7463d71

# Conflicts: # src/main/java/frc/robot/CanID.java # src/main/java/frc/robot/RobotContainer.java # src/main/java/frc/robot/subsystems/vision/Vision.java # src/main/java/frc/robot/subsystems/vision/photon/Camera.java

PillageDev requested review from a team February 20, 2026 02:43

PillageDev linked an issue Feb 20, 2026 that may be closed by this pull request

Turret Initial Code #13

Closed

NathanEdg previously requested changes Feb 20, 2026

View reviewed changes