hoopin while they all at prom

Author: Shaunak Kumar

src/main/kotlin/com/team4099/lib/math/MathUtil.kt

@@ -2,8 +2,6 @@ package com.team4099.lib.math
 
 import org.team4099.lib.units.UnitKey
 import org.team4099.lib.units.Value
-import org.team4099.lib.units.base.Ampere
-import org.team4099.lib.units.base.Current
 
 fun <T : UnitKey> clamp(input: Value<T>, lowerBound: Value<T>, upperBound: Value<T>): Value<T> {
   return maxOf(lowerBound, minOf(input, upperBound))

src/main/kotlin/com/team4099/robot2026/config/constants/HopperConstants.kt

@@ -9,8 +9,8 @@ import org.team4099.lib.units.kilo
 object HopperConstants {
   const val GEAR_RATIO: Double = 1.0 / 27.0
 
-  val STATOR_CURRENT_LIMIT = 20.amps
-  val SUPPLY_CURRENT_LIMIT = 20.amps
+  val STATOR_CURRENT_LIMIT = 60.amps
+  val SUPPLY_CURRENT_LIMIT = 60.amps
 
   val VOLTAGE_COMPENSATION = 12.volts
 

src/main/kotlin/com/team4099/robot2026/subsystems/superstructure/hopper/Hopper.kt

@@ -1,7 +1,6 @@
 package com.team4099.robot2026.subsystems.superstructure.hopper
 
 import com.team4099.robot2026.config.constants.HopperConstants
-import com.team4099.robot2026.subsystems.superstructure.hopper.HopperIO
 import com.team4099.robot2026.subsystems.superstructure.Request.HopperRequest
 import com.team4099.robot2026.util.ControlledByStateMachine
 import com.team4099.robot2026.util.CustomLogger

src/main/kotlin/com/team4099/robot2026/subsystems/superstructure/hopper/HopperIO.kt

@@ -6,37 +6,38 @@ import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.inAmperes
 import org.team4099.lib.units.base.inCelsius
-import org.team4099.lib.units.derived.*
-import org.team4099.lib.units.inDegreesPerSecond
-import org.team4099.lib.units.inDegreesPerSecondPerSecond
+import org.team4099.lib.units.derived.ElectricalPotential
+import org.team4099.lib.units.derived.inVolts
+import org.team4099.lib.units.derived.rotations
+import org.team4099.lib.units.derived.volts
+import org.team4099.lib.units.inRotationsPerMinute
 import org.team4099.lib.units.perMinute
-import org.team4099.lib.units.perSecond
 
 interface HopperIO {
   class HopperIOInputs : LoggableInputs {
     // Hopper Inputs
-    var hopperAngularVelocity = 0.0.degrees.perSecond
-    var hopperAngularAcceleration = 0.0.rotations.perMinute.perMinute
+    var hopperAngularVelocity = 0.0.rotations.perMinute
+    var hopperAngularAcceleration = 0.0.rotations.perMinute
     var hopperAppliedVoltage = 0.0.volts
     var hopperStatorCurrent = 0.0.amps
     var hopperSupplyCurrent = 0.0.amps
     var hopperTemp = 0.0.celsius
 
     override fun toLog(table: LogTable) {
-      table.put("hopperVelocityPerSecond", hopperAngularVelocity.inDegreesPerSecond)
-      table.put("hopperAccelerationDPSPS", hopperAngularAcceleration.inDegreesPerSecondPerSecond)
+      table.put("hopperVelocityRPM", hopperAngularVelocity.inRotationsPerMinute)
+      table.put("hopperAccelerationRPM", hopperAngularAcceleration.inRotationsPerMinute)
       table.put("hopperAppliedVoltage", hopperAppliedVoltage.inVolts)
       table.put("hopperStatorCurrent", hopperStatorCurrent.inAmperes)
       table.put("hopperSupplyCurrent", hopperSupplyCurrent.inAmperes)
       table.put("hopperTemp", hopperTemp.inCelsius)
     }
 
     override fun fromLog(table: LogTable) {
-      table.get("hopperDPS", hopperAngularVelocity.inDegreesPerSecond).let {
-        hopperAngularVelocity = it.degrees.perSecond
-      }
-      table.get("hopperAcceleration", hopperAngularAcceleration.inDegreesPerSecondPerSecond).let {
-        hopperAngularAcceleration = it.degrees.perSecond.perSecond
+      table
+          .get("HopperVelocityRotationsPerMinuite", hopperAngularVelocity.inRotationsPerMinute)
+          .let { hopperAngularVelocity = it.rotations.perMinute }
+      table.get("hopperAcceleration", hopperAngularAcceleration.inRotationsPerMinute).let {
+        hopperAngularAcceleration = it.rotations.perMinute
       }
       table.get("hopperAppliedVoltage", hopperAppliedVoltage.inVolts).let {
         hopperAppliedVoltage = it.volts

src/main/kotlin/com/team4099/robot2026/subsystems/superstructure/hopper/HopperIOSim.kt

@@ -9,19 +9,12 @@ import org.team4099.lib.math.clamp
 import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.inSeconds
-import org.team4099.lib.units.derived.DegreesPerSecondPerDegreesPerSecond
 import org.team4099.lib.units.derived.ElectricalPotential
 import org.team4099.lib.units.derived.inKilogramsMeterSquared
 import org.team4099.lib.units.derived.inVolts
-import org.team4099.lib.units.derived.radians
 import org.team4099.lib.units.derived.rotations
 import org.team4099.lib.units.derived.volts
-import org.team4099.lib.units.perSecond
-import org.team4099.lib.units.inRotationsPerMinute
-import org.team4099.lib.units.inRotationsPerMinutePerMinute
 import org.team4099.lib.units.perMinute
-import org.team4099.lib.units.derived.rotations
-import org.team4099.lib.units.derived.degrees
 
 object HopperIOSim : HopperIO {
   private var appliedVoltage = 0.0.volts
@@ -39,7 +32,7 @@ object HopperIOSim : HopperIO {
     hopperSim.update(Constants.Universal.LOOP_PERIOD_TIME.inSeconds)
 
     inputs.hopperAngularVelocity = hopperSim.angularVelocityRadPerSec.rotations.perMinute
-    inputs.hopperAngularAcceleration = hopperSim.angularAccelerationRadPerSecSq.radians.perSecond.perSecond
+    inputs.hopperAngularAcceleration = hopperSim.angularAccelerationRadPerSecSq.rotations.perMinute
     inputs.hopperAppliedVoltage = appliedVoltage
     inputs.hopperSupplyCurrent = 0.0.amps
     inputs.hopperStatorCurrent = hopperSim.currentDrawAmps.amps

src/main/kotlin/com/team4099/robot2026/subsystems/superstructure/hopper/HopperIOTalon.kt

@@ -21,7 +21,7 @@ import org.team4099.lib.units.derived.ElectricalPotential
 import org.team4099.lib.units.derived.inVolts
 import org.team4099.lib.units.derived.rotations
 import org.team4099.lib.units.derived.volts
-import org.team4099.lib.units.perSecond
+import org.team4099.lib.units.perMinute
 
 object HopperIOTalon : HopperIO {
 
@@ -35,7 +35,6 @@ object HopperIOTalon : HopperIO {
   var statorCurrentSignal: StatusSignal<Current>
   var supplyCurrentSignal: StatusSignal<Voltage>
   var tempSignal: StatusSignal<WPITemp>
-  var dutyCycleSignal: StatusSignal<Double>
   var motorVoltageSignal: StatusSignal<Voltage>
   var motorAccelSignal: StatusSignal<WPIAngularAcceleration>
   var rotorVelocitySignal: StatusSignal<WPIAngularVelocity>
@@ -55,7 +54,6 @@ object HopperIOTalon : HopperIO {
     statorCurrentSignal = hopperTalon.supplyCurrent
     supplyCurrentSignal = hopperTalon.supplyVoltage
     tempSignal = hopperTalon.deviceTemp
-    dutyCycleSignal = hopperTalon.dutyCycle
     motorVoltageSignal = hopperTalon.motorVoltage
     motorAccelSignal = hopperTalon.acceleration
   }
@@ -65,7 +63,6 @@ object HopperIOTalon : HopperIO {
         statorCurrentSignal,
         supplyCurrentSignal,
         tempSignal,
-        dutyCycleSignal,
         motorVoltageSignal,
         motorAccelSignal,
         rotorVelocitySignal)
@@ -79,11 +76,8 @@ object HopperIOTalon : HopperIO {
     inputs.hopperTemp = tempSignal.valueAsDouble.celsius
     inputs.hopperAngularVelocity = hopperSensor.velocity
     inputs.hopperAngularAcceleration =
-      (motorAccelSignal.valueAsDouble / HopperConstants.GEAR_RATIO)
-        .rotations
-        .perSecond
-        .perSecond
-        (motorAccelSignal.valueAsDouble / HopperConstants.GEAR_RATIO).rotations.perSecond.perSecond
+        (motorAccelSignal.valueAsDouble / HopperConstants.GEAR_RATIO).rotations.perMinute
+    (motorAccelSignal.valueAsDouble / HopperConstants.GEAR_RATIO).rotations.perMinute.perMinute
   }
 
   override fun setVoltage(voltage: ElectricalPotential) {