Add hood control #64

Alexander-Mironenko · 2026-01-25T06:12:44Z

No description provided.

rafzip · 2026-01-27T09:24:34Z

@DannyPomeranian can you get this ready for testing by tomorrow night?

DannyPomeranian · 2026-01-27T10:29:51Z

@rafzip I'm working on this now, it should be ready today and will be ready by Thursday

…od motor controller

auscompgeek · 2026-01-29T01:24:10Z

@codecov-ai-reviewer review

auscompgeek · 2026-01-29T01:24:59Z

@greptileai

auscompgeek · 2026-01-29T01:27:50Z

If you're all gonna use AI to review code… at least be upfront about it.

greptile-apps · 2026-01-29T01:28:12Z

Greptile Overview

Greptile Summary

Added hood control functionality to the shooter component using a SparkMax motor controller with an absolute encoder for position feedback.

Key Changes

Added hood_motor (SparkMax) with closed-loop PID configuration
Implemented change_pitch_relative() and change_pitch_absolute() methods for hood angle control with proper clamping
Added feedback methods for monitoring hood angle and setpoint status
Added HOOD = 10 to SparkId enum for CAN bus addressing

Issues Found

Critical: Hood motor runs at constant speed every execution cycle (line 119) instead of using the configured closed-loop position control (commented out on lines 123-125). This will cause continuous movement regardless of position.
Critical: Incorrect math.isclose() usage with rel_tol=5.0 (500% tolerance) instead of abs_tol for absolute degree tolerance
Critical: Encoder conversion factor inverted - should convert encoder rotations to degrees, not degrees to rotations
Several unused constants (MOTOR_GEAR_RATIO, MOTOR_ROTS_PER_HOOD_DEGREE) and configuration concerns noted in previous threads

The closed-loop position control is intentionally disabled for testing, but the current constant-speed implementation is unsafe for production use.

Confidence Score: 0/5

This PR has critical issues that make it unsafe to merge without fixes
The hood motor runs continuously at constant speed instead of using position control, which could damage hardware. Additionally, the tolerance check uses incorrect parameters (rel_tol instead of abs_tol) and the encoder conversion factor appears to be inverted.
components/shooter.py requires immediate attention - fix the tolerance parameter, encoder conversion factor, and review the motor control strategy before testing

Important Files Changed

Filename	Overview
components/shooter.py	Added hood motor control with SparkMax, encoder configuration, and pitch control methods, but hood motor runs continuously at constant speed instead of using closed-loop position control

Sequence Diagram

sequenceDiagram
    participant User
    participant ShooterComponent
    participant HoodMotor as Hood Motor (SparkMax)
    participant HoodEncoder as Absolute Encoder
    participant FlywheelMotors as Flywheel Motors
    participant FeederMotor as Feeder Motor

    Note over ShooterComponent: Initialization
    ShooterComponent->>HoodMotor: Configure SparkMax with PID
    ShooterComponent->>HoodEncoder: Set conversion factor & zero offset
    ShooterComponent->>FlywheelMotors: Configure TalonFX gains

    Note over User,ShooterComponent: Control Flow
    User->>ShooterComponent: change_pitch_relative(angle)
    ShooterComponent->>HoodEncoder: getPosition()
    HoodEncoder-->>ShooterComponent: current_angle
    ShooterComponent->>ShooterComponent: clamp(current_angle - angle)
    ShooterComponent->>ShooterComponent: Update desired_hood_angle

    User->>ShooterComponent: change_pitch_absolute(angle)
    ShooterComponent->>ShooterComponent: clamp(90 - angle)
    ShooterComponent->>ShooterComponent: Update desired_hood_angle

    User->>ShooterComponent: shoot()
    ShooterComponent->>ShooterComponent: Set target velocities

    Note over ShooterComponent: Execute Loop (every 20ms)
    ShooterComponent->>FlywheelMotors: VelocityVoltage control
    ShooterComponent->>FeederMotor: PercentOutput control
    ShooterComponent->>HoodMotor: set(hood_move_speed)
    Note over HoodMotor: Runs at constant 0.01 speed<br/>(Closed-loop control commented out)

    ShooterComponent->>HoodEncoder: getPosition()
    HoodEncoder-->>ShooterComponent: current_angle
    ShooterComponent->>ShooterComponent: hood_is_at_setpoint()
    Note over ShooterComponent: Check with math.isclose()<br/>(incorrect rel_tol usage)

greptile-apps

_{2 files reviewed, 5 comments}

_{Edit Code Review Agent Settings | Greptile}

components/shooter.py

ids.py

DannyPomeranian · 2026-01-29T03:57:36Z

@greptileai

greptile-apps

_{2 files reviewed, 4 comments}

_{Edit Code Review Agent Settings | Greptile}

greptile-apps · 2026-01-29T04:00:22Z

components/shooter.py

+    def change_pitch_relative(self, angle):
+        self.desired_hood_angle = self.get_hood_angle() - angle
+        clamp(self.desired_hood_angle, self.MIN_HOOD_ANGLE, self.MAX_HOOD_ANGLE)


clamp() returns a value but it's not being assigned - desired_hood_angle remains unclamped.

Suggested change

def change_pitch_relative(self, angle):

self.desired_hood_angle = self.get_hood_angle() - angle

clamp(self.desired_hood_angle, self.MIN_HOOD_ANGLE, self.MAX_HOOD_ANGLE)

def change_pitch_relative(self, angle):

self.desired_hood_angle = clamp(

self.get_hood_angle() - angle, self.MIN_HOOD_ANGLE, self.MAX_HOOD_ANGLE

)

Prompt To Fix With AI

This is a comment left during a code review. Path: components/shooter.py Line: 93:95 Comment: `clamp()` returns a value but it's not being assigned - `desired_hood_angle` remains unclamped. ```suggestion def change_pitch_relative(self, angle): self.desired_hood_angle = clamp( self.get_hood_angle() - angle, self.MIN_HOOD_ANGLE, self.MAX_HOOD_ANGLE ) ``` How can I resolve this? If you propose a fix, please make it concise.

greptile-apps · 2026-01-29T04:00:23Z

components/shooter.py

+    def change_pitch_absolute(self, angle):
+        self.desired_hood_angle = 90 - angle
+        clamp(self.desired_hood_angle, self.MIN_HOOD_ANGLE, self.MAX_HOOD_ANGLE)


clamp() returns a value but it's not being assigned - desired_hood_angle remains unclamped.

Suggested change

def change_pitch_absolute(self, angle):

self.desired_hood_angle = 90 - angle

clamp(self.desired_hood_angle, self.MIN_HOOD_ANGLE, self.MAX_HOOD_ANGLE)

def change_pitch_absolute(self, angle):

self.desired_hood_angle = clamp(

90 - angle, self.MIN_HOOD_ANGLE, self.MAX_HOOD_ANGLE

)

Prompt To Fix With AI

This is a comment left during a code review. Path: components/shooter.py Line: 97:99 Comment: `clamp()` returns a value but it's not being assigned - `desired_hood_angle` remains unclamped. ```suggestion def change_pitch_absolute(self, angle): self.desired_hood_angle = clamp( 90 - angle, self.MIN_HOOD_ANGLE, self.MAX_HOOD_ANGLE ) ``` How can I resolve this? If you propose a fix, please make it concise.

greptile-apps · 2026-01-29T04:00:24Z

components/shooter.py


        self.feeder_motor.set(ControlMode.PercentOutput, self.target_feeder_percentage)
+
+        self.hood_motor.set(self.hood_move_speed)


Hood motor runs continuously at constant speed every execution cycle - will keep moving even when at setpoint or when not commanded.

Prompt To Fix With AI

This is a comment left during a code review. Path: components/shooter.py Line: 117:117 Comment: Hood motor runs continuously at constant speed every execution cycle - will keep moving even when at setpoint or when not commanded. How can I resolve this? If you propose a fix, please make it concise.

greptile-apps · 2026-01-29T04:00:25Z

components/shooter.py

+    MAX_HOOD_ANGLE = 70  # TODO Tune this value
+    MIN_HOOD_ANGLE = 10  # TODO Tune this value
+
+    MOTOR_GEAR_RATIO = 24 / 22


MOTOR_GEAR_RATIO defined but never used in code.

Prompt To Fix With AI

This is a comment left during a code review. Path: components/shooter.py Line: 30:30 Comment: `MOTOR_GEAR_RATIO` defined but never used in code. How can I resolve this? If you propose a fix, please make it concise.

DannyPomeranian · 2026-01-29T04:26:49Z

@greptileai

greptile-apps

_{1 file reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

greptile-apps · 2026-01-29T04:29:37Z

components/shooter.py

+    MIN_HOOD_ANGLE = 10  # TODO Tune this value
+
+    MOTOR_GEAR_RATIO = 24 / 22
+    ENCODER_ROTS_PER_HOOD_DEGREE = 54 / 26 / 360


Conversion factor should be in degrees per encoder rotation, not encoder rotations per degree. The formula should be 360 * 26 / 54 (inverse of current value).

Prompt To Fix With AI

This is a comment left during a code review. Path: components/shooter.py Line: 31:31 Comment: Conversion factor should be in degrees per encoder rotation, not encoder rotations per degree. The formula should be `360 * 26 / 54` (inverse of current value). How can I resolve this? If you propose a fix, please make it concise.

Alexander-Mironenko requested review from LucienMorey, auscompgeek and rafzip January 25, 2026 06:12

rafzip force-pushed the turret_hood branch from 57034f0 to d2c3f22 Compare January 27, 2026 09:24

Alexander-Mironenko and others added 5 commits January 27, 2026 23:12

Add initial hood interface

d4b2e6f

add hood motor and encoder config

3e5b034

renamed hood articulate functions

9758cf9

correctly configure the hood encoder to be directly wired into the ho…

5d7e368

…od motor controller

configure encoder and write functions to operate the hood

1fd01a7

DannyPomeranian force-pushed the turret_hood branch from d2c3f22 to 1fd01a7 Compare January 27, 2026 12:12

DannyPomeranian marked this pull request as ready for review January 27, 2026 12:16

DannyPomeranian added 2 commits January 28, 2026 23:42

fix encoder position conversion factor and complete some unfinished code

e8aca10

fix tunable injection error

714f383

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greptile-apps bot reviewed Jan 29, 2026

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update gear ratios

4cdf38a

auscompgeek assigned DannyPomeranian Jan 29, 2026

fixed some logic and config errors (kindly spotted by greptile)

087ef84

greptile-apps bot reviewed Jan 29, 2026

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fix another error

6d73afb

greptile-apps bot reviewed Jan 29, 2026

View reviewed changes


		self.feeder_motor.set(ControlMode.PercentOutput, self.target_feeder_percentage)

		self.hood_motor.set(self.hood_move_speed)

Add hood control #64

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Add hood control #64

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Alexander-Mironenko commented Jan 25, 2026

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Greptile Overview

Greptile Summary

Key Changes

Issues Found

Confidence Score: 0/5

Important Files Changed

Sequence Diagram

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