New state machine PR #14
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Maybe this will work? |
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#10 needs to be merged before this. |
spellingcat
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Jan 19, 2026
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- delete elevator gravity from hoodio
- delete the isFull in indexer on L70
src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
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| private Trigger feedReq; | ||
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| @AutoLogOutput(key = "Superstructure/Flowstate Request") | ||
| private Trigger flowReq; |
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vivi is working on the flow stuff btw which i'll merge after this
spellingcat
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i'm a little suspect of all the spinup stuff but like we're just gonna figure that out during testing so it's whatever. would you be so kind as to also update the markdown map? also have you tested this in sim
src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
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| bindTransition(SuperState.FEED, SuperState.IDLE, isEmpty); | ||
| bindTransition( | ||
| SuperState.SPIN_UP, SuperState.SCORE, scoreReq.and(shooter::atFlywheelVelocitySetpoint)); |
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probably should not debounce here but if we find we need to
… getting stuck in a state)
spellingcat
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Jan 19, 2026
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