Chandana Aradhya Indexer PR by chandaradhya · Pull Request #2 · team4099/CodeClone-2026

chandaradhya · 2026-06-19T23:38:38Z

Finished making the indexer subsystem files
Subsystem consists of two kraken 60 and three kraken 44 motors
Subsystem controls a series of thin black rollers, green wheels leading to the turret, a side roller, and a top and bottom belt towards the turret in the back

SirBeans · 2026-06-19T23:45:05Z

+  val STATOR_CURRENT_LIMIT = 0.amps
+  val SUPPLY_CURRENT_LIMIT = 0.amps


make these 40

SirBeans · 2026-06-19T23:46:06Z

+
+class Indexer(private val io: IndexerIO) : ControlledByStateMachine() {
+
+  companion object {


try to put these at the bottom looks a bit cleaner

SirBeans · 2026-06-19T23:46:46Z

+
+  var targetVelocity = 0.0.rotations.perMinute
+    private set
+


add an isAtTargetedVelo

SirBeans · 2026-06-19T23:48:52Z

+  fun configurePIDCurrent(
+      kP: ProportionalGain<Fraction<Radian, Second>, Ampere>,
+      kI: IntegralGain<Fraction<Radian, Second>, Ampere>,
+      kD: DerivativeGain<Fraction<Radian, Second>, Ampere>
+  ) {}
+
+  fun configureFFCurrent(
+      kS: StaticFeedforward<Ampere>,
+      kV: VelocityFeedforward<Radian, Ampere>,
+      kA: AccelerationFeedforward<Radian, Ampere>
+  ) {}


idt youll need current control here

SirBeans · 2026-06-19T23:50:13Z

+  private var floorAccelSignal: StatusSignal<WPIAngularAcceleration>
+  private var floorVelocitySignal: StatusSignal<WPIAngularVelocity>
+
+  private var feedWheelsStatorCurrentSignal: StatusSignal<Current>


use wpi annotation plz

SirBeans · 2026-06-19T23:51:07Z

+    configs.CurrentLimits.SupplyCurrentLimitEnable = true
+    configs.CurrentLimits.StatorCurrentLimitEnable = true
+    configs.MotorOutput.NeutralMode = NeutralModeValue.Coast
+    configs.MotorOutput.Inverted = InvertedValue.Clockwise_Positive


i havent looked at cad but u may not want this to be the case for all of them esp if they drive the same thing

00magikarp

i like whats generally going on here. big comment tho: i don't think u want velocity control for this. first of all ur using one subsystem to control many motor groups, each with their own mechanical configurations so its kinda weird for them to all run one velocity. secondly velocity control isnt rly necessary esp for rollers teams like this. ik this is a big change but its lowk a lot of deleting stuff instead of adding stuff so i think it should be fine no? i can help u with this if u need. this also means getting rid of pids and ffs and target velocities and that stuff.

00magikarp · 2026-06-20T00:50:18Z

+    CustomLogger.recordOutput("Indexer/currentRequest", currentRequest.javaClass.simpleName)
+
+    CustomLogger.recordOutput("Indexer/targetVoltage", targetVoltage.inVolts)
+    CustomLogger.recordOutput("Indexer/targetVelocity", targetVelocity.inRotationsPerMinute)


add units in ur log names

00magikarp · 2026-06-20T04:08:33Z

+  private val topBeltTalon: TalonFX = TalonFX(Constants.Indexer.TOP_BELT_INDEXER_MOTOR_ID)
+  private val bottomBeltTalon: TalonFX = TalonFX(Constants.Indexer.BOTTOM_BELT_INDEXER_MOTOR_ID)
+
+  private val configs: TalonFXConfiguration = TalonFXConfiguration()


to build off what ryan said in comment below, each of these sets of motors should probably have their own configs. for example, u may want diff current limits from ur floor rollers to ur tunnel belts. make diff configs for each one

00magikarp · 2026-06-20T04:13:41Z

+            voltage,
+            lowerBound = -IndexerConstants.VOLTAGE_COMPENSATION,
+            upperBound = IndexerConstants.VOLTAGE_COMPENSATION)
+    floorTalon.setControl(voltageOut.withOutput(clampedVoltage.inVolts))


this can be simplified by just calling voltageOut.withOutput(clampedVoltage.inVolts) once before the first setControl and then using voltageOut from there on, since .with...() methods also replace the value its changing in-place

…from the indexer subystem.

…ttings of the belts, floor rollers, and side roller. As a result, all indexer files were also updated to account for the different settings.

00magikarp

very nice structure good job

00magikarp · 2026-06-22T17:07:29Z

+import org.team4099.lib.units.perSecond
+
+object FeederConstants {
+  const val GEAR_RATIO: Double = 1.0 / 1.0


00magikarp · 2026-06-22T17:07:34Z

+  val STATOR_CURRENT_LIMIT = 40.0.amps
+  val SUPPLY_CURRENT_LIMIT = 40.0.amps
+
+  val VOLTAGE_COMPENSATION = 0.volts


00magikarp · 2026-06-22T17:11:05Z

+
+    inputs.feederVelocity = feederSensor.velocity
+    inputs.feederAcceleration =
+      (feederAccelSignal.valueAsDouble / FeederConstants.GEAR_RATIO)


it should be * not /

00magikarp · 2026-06-22T17:12:11Z

+    var floorIndexerAppliedVoltage = 0.0.volts
+    var floorIndexerSupplyCurrent = 0.0.amps
+    var floorIndexerStatorCurrent = 0.0.amps
+    var floorIndexerTorqueCurrent = 0.0.amps


remove torquecurrents

00magikarp · 2026-06-22T17:12:22Z

remove stuff related to closedloop (velocity controllers, pid, ff)

00magikarp · 2026-06-22T17:12:28Z

remove stuff related to closedloop (velocity controllers, pid, ff)

00magikarp · 2026-06-22T17:16:34Z

+  private val topBeltTalon: TalonFX = TalonFX(Constants.Indexer.TOP_BELT_INDEXER_MOTOR_ID)
+  private val bottomBeltTalon: TalonFX = TalonFX(Constants.Indexer.BOTTOM_BELT_INDEXER_MOTOR_ID)
+
+  private val slot0Configs: TalonFXConfiguration = TalonFXConfiguration()


i wrote this big paragraph abt why u shouldnt change slots for different motors and then realized that u called them slot configs but in reality theyre just configs lol. slot config refers to the configs for the "slot", which controlls the PID/FF gain constants. rename these to just floorConfig, sideRollerConfig, beltConfig pls

00magikarp · 2026-06-22T17:16:52Z

+
+    inputs.floorIndexerVelocity = floorIndexerSensor.velocity
+    inputs.floorIndexerAcceleration =
+        (floorAccelSignal.valueAsDouble / IndexerConstants.FloorConstants.GEAR_RATIO)


…s and configs were updated.

00magikarp

make the gear ratios driving / driven (so a small gear on the motor means that the ratio is < 1). dont simplify gear ratios. add mois.

00magikarp · 2026-06-22T23:03:32Z

+import org.team4099.lib.units.perSecond
+
+object FeederConstants {
+  const val GEAR_RATIO: Double = 14.0 / 9.0


leave this as 18.0 / 28.0, dont simplify. also in our codebase reductions are < 1 (driving over driven)

00magikarp · 2026-06-22T23:03:46Z

+
+object IndexerConstants {
+  object FloorConstants {
+    const val TOP_GEAR_RATIO: Double = 435.0 / 112.0


pls leave as seperate fractions

00magikarp · 2026-06-22T23:46:28Z

+
+  fun setVoltage(voltage: ElectricalPotential) {}
+
+  fun setVelocity(velocity: AngularVelocity) {}


00magikarp · 2026-06-22T23:46:40Z

+        lowerBound = -FeederConstants.VOLTAGE_COMPENSATION,
+        upperBound = FeederConstants.VOLTAGE_COMPENSATION)
+    feederTalon.setControl(voltageOut.withOutput(clampedVoltage.inVolts))
+  }


implement setbrakemode. see justins intake

00magikarp · 2026-06-22T23:46:50Z

+
+  fun setVoltage(voltage: ElectricalPotential) {}
+
+  fun setVelocity(velocity: AngularVelocity) {}


…ity was removed from both and setBrakeMode was added to feeder.

00magikarp

good job i like this

.

chandaradhya added 2 commits June 19, 2026 18:41

All indexer subsystem files finished

8ae10db

update to num of motors in indexeriosim file

43f7e40

chandaradhya requested a review from a team June 19, 2026 23:38

chore: auto-fix Spotless formatting

93a8f14

SirBeans previously requested changes Jun 19, 2026

View reviewed changes

00magikarp requested changes Jun 20, 2026

View reviewed changes

chandaradhya added 2 commits June 22, 2026 12:05

The feeder wheels have moved to their own subsystem and been removed …

f12839d

…from the indexer subystem.

IndexerConstants.kt has been updated to consider for the different se…

146de7f

…ttings of the belts, floor rollers, and side roller. As a result, all indexer files were also updated to account for the different settings.

00magikarp requested changes Jun 22, 2026

View reviewed changes

Torque Current signals and closed loop stuff were removed. Gear ratio…

de28f17

…s and configs were updated.

00magikarp requested changes Jun 22, 2026

View reviewed changes

Gear ratios and moment of inertia settings were updated. fun setVeloc…

921c4ec

…ity was removed from both and setBrakeMode was added to feeder.

00magikarp approved these changes Jun 23, 2026

View reviewed changes

00magikarp and others added 2 commits June 23, 2026 15:10

Merge branch 'master' into Indexer

b8b7290

chore: auto-fix Spotless formatting

5ebff7f

chandaradhya merged commit 7dcc5d0 into master Jun 23, 2026
1 check passed

00magikarp deleted the Indexer branch July 12, 2026 20:05

		val STATOR_CURRENT_LIMIT = 0.amps
		val SUPPLY_CURRENT_LIMIT = 0.amps


		class Indexer(private val io: IndexerIO) : ControlledByStateMachine() {

		companion object {


		fun setVoltage(voltage: ElectricalPotential) {}

		fun setVelocity(velocity: AngularVelocity) {}

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chandaradhya commented Jun 19, 2026

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00magikarp Jun 22, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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00magikarp Jun 22, 2026 •

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