Ground intake

[Lyssia-Seiden]

No description provided.

[Copilot]

Pull Request Overview

This PR, titled "Ground intake," updates various subsystem configurations and introduces new functionality to support an improved coral intake mechanism. The key changes include:

• Updating wrist, shoulder, and elevator setpoints and positions using ExtensionKinematics for coral intake.
• Adjusting simulation parameters and adding new commands (e.g., hold, intakeCoral) in several subsystems.
• Modifying robot-level configurations, including changes to robot type, target voltages, and logging of kinematics poses.

Reviewed Changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java	Updated rotation setpoints and added a new coral intake position for the wrist.
src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java	Adjusted shoulder positions and integrated ExtensionKinematics for scoring positions.
src/main/java/frc/robot/subsystems/shoulder/ShoulderIOSim.java	Tuned PID controller parameters in the simulation.
src/main/java/frc/robot/subsystems/roller/RollerIOSim.java	Changed simulation logic for position, with an informal comment now present.
src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java	Derived extension metrics from ExtensionKinematics and updated extension limits.
src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java	Removed unimplemented exception in favor of an informal comment for simulation.
src/main/java/frc/robot/subsystems/Superstructure.java	Added new superstructure state and triggers for coral intake along with updated command chaining.
src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java	Renamed and reworked intake commands to support coral intake.
src/main/java/frc/robot/subsystems/ExtensionKinematics.java	Updated inverse kinematics calculations and clamping bounds for wrist rotation.
src/main/java/frc/robot/Robot.java	Changed robot type to SIM, updated ReefTarget voltage, modified driver inputs, and added detailed logging for kinematics.

Comments suppressed due to low confidence (2)

src/main/java/frc/robot/Robot.java:142

• The ReefTarget L4 voltage value changed from 20.0 to -20.0; please confirm that this negative value is intentional and correctly matches the hardware design.

        -20.0,

src/main/java/frc/robot/subsystems/Superstructure.java:783

• [nitpick] Remove commented-out code if it is no longer necessary to improve code clarity.

// shoulder
//     .hold()
//     .until(() -> true)

[Lyssia-Seiden]

copilot review is neat but wasnt really helpful

[spellingcat]

until(() -> true)?

[spellingcat]

copilot review is neat but wasnt really helpful

💀