Elevator Fix

[ShmayaR]

Summary by CodeRabbit

• New Features
  • Updated arm and elevator presets across collect, load/unload, eject, prepare, and score states for smoother, more reliable positioning and transitions.
  • Tuned motion ranges and speed scalars to improve responsiveness and consistency during scoring at all levels.
  • Refined mechanism dimensions and visualization origin for more accurate on-robot feedback and dashboard displays.

[coderabbitai]

Walkthrough

Updated ArmElevator configuration: changed several geometric constants and comprehensively replaced the ArmElevatorState enum entries with new target angles, positions, speed scalars, and flags. Also added an import for ArmElevatorConstants in RobotContainer.java.

Changes

Cohort / File(s)	Summary
RobotContainer import src/main/java/frc/trigon/robot/RobotContainer.java	Added import for ArmElevatorConstants (no other code changes in this file reported).
ArmElevator configuration & states src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java	Adjusted visualization/geometry values (e.g., visualization Z translation 0.0814 → 0.095; second stage extended length 0.603 → 0.593) and replaced/retuned the ArmElevatorState enum with new Rotation2d target angles, elevator positions (meters), speed scalars, ignore/prepare flags, and state references.

Sequence Diagram(s)

(No sequence diagram provided — changes are configuration/state constant updates and an added import; control flow and public interfaces were not modified.)

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~25 minutes

Possibly related PRs

• No Hit Reef Logic #24 — Modifies ArmElevatorConstants.ArmElevatorState; likely overlapping enum/state retunes.
• ArmElevator #21 — Also updates ArmElevator-related commands/usages referenced by RobotContainer imports.
• Climb Commands #20 — Edits ArmElevator constants and REST/prepare states; intersects with these constant changes.

Poem

I twitch my whiskers, tweak the constants neat,
Angles set and stages meet;
A small import hops into place,
The elevator hums with softer pace.
— From a rabbit, ready for race 🐇✨

Pre-merge checks and finishing touches

❌ Failed checks (1 inconclusive)

Check name	Status	Explanation	Resolution
Title Check	❓ Inconclusive	The title “Elevator Fix” is related to the changes, as the PR adjusts elevator constants and state definitions, but it’s overly generic and doesn’t clearly convey the specific adjustments made or the broader scope of reworking the elevator’s state machine.	Consider refining the title to succinctly summarize the core change, such as “Update ArmElevatorConstants and rework elevator state targets,” to give reviewers immediate insight into the PR’s scope.

✅ Passed checks (2 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Docstring Coverage	✅ Passed	No functions found in the changes. Docstring coverage check skipped.

✨ Finishing touches

• 📝 Generate Docstrings

🧪 Generate unit tests

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch elevator-fix

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📜 Recent review details

Configuration used: CodeRabbit UI

Review profile: CHILL

Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 735cd21 and 991dea3.

📒 Files selected for processing (1)

• src/main/java/frc/trigon/robot/RobotContainer.java (1 hunks)

✅ Files skipped from review due to trivial changes (1)

• src/main/java/frc/trigon/robot/RobotContainer.java

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Actionable comments posted: 3

📜 Review details

Configuration used: CodeRabbit UI

Review profile: CHILL

Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 743395e and 735cd21.

📒 Files selected for processing (2)

• src/main/java/frc/trigon/robot/RobotContainer.java (2 hunks)
• src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java (2 hunks)

🧰 Additional context used

🧬 Code graph analysis (1)

src/main/java/frc/trigon/robot/RobotContainer.java (3)

src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java (1)

• ArmElevatorConstants (28-367)

src/main/java/frc/trigon/robot/constants/OperatorConstants.java (1)

• OperatorConstants (12-99)

src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorCommands.java (1)

• ArmElevatorCommands (15-78)

🪛 GitHub Actions: Java CI with Gradle

src/main/java/frc/trigon/robot/RobotContainer.java

[error] 115-115: Compilation failed: cannot find symbol; ArmElevatorState.ELEVATOR_0 referenced in getSetTargetStateCommand. Check ArmElevatorState definitions and ensure ELEVATOR_0 exists. Gradle build failed during '/home/runner/work/RobotCodeOffSeason2025/RobotCodeOffSeason2025/gradlew build'.

🔇 Additional comments (3)

src/main/java/frc/trigon/robot/RobotContainer.java (1)

26-26: LGTM!

The import addition is necessary for the new binding.

src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java (2)

146-146: LGTM!

The Z-axis translation adjustment for the elevator second stage visualization origin appears to be a calibration correction.

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154-154: LGTM!

The adjustment to SECOND_ELEVATOR_COMPONENT_EXTENDED_LENGTH_METERS from 0.603 to 0.593 is consistent with the visualization origin change and appears to be a calibration correction.