add logs for shooter torquecurrent

src/main/kotlin/com/team4099/robot2026/Robot.kt

@@ -43,7 +43,6 @@ import org.littletonrobotics.junction.wpilog.WPILOGWriter
 import org.team4099.lib.units.base.Time
 import org.team4099.lib.units.base.inMilliseconds
 import org.team4099.lib.units.base.seconds
-import org.team4099.lib.units.derived.inDegrees
 
 object Robot : LoggedRobot() {
   val logFolderAlert =

src/main/kotlin/com/team4099/robot2026/RobotContainer.kt

@@ -259,16 +259,16 @@ object RobotContainer {
                     setOf(superstructure)),
                 WaitCommand(0.1))))
     ControlBoard.forceIntakeFullDown.whileTrue(
-      RepeatCommand(
-        SequentialCommandGroup(
-          Commands.runOnce({
-            intakeOverridingAngle =
-              max(IntakeConstants.PIVOT_MIN_ANGLE, intakeOverridingAngle - 10.degrees)
-          }),
-          Commands.defer(
-            { superstructure.requestForceIntakeCommand(intakeOverridingAngle) },
-            setOf(superstructure)),
-          WaitCommand(0.1))))
+        RepeatCommand(
+            SequentialCommandGroup(
+                Commands.runOnce({
+                  intakeOverridingAngle =
+                      max(IntakeConstants.PIVOT_MIN_ANGLE, intakeOverridingAngle - 10.degrees)
+                }),
+                Commands.defer(
+                    { superstructure.requestForceIntakeCommand(intakeOverridingAngle) },
+                    setOf(superstructure)),
+                WaitCommand(0.1))))
 
     ControlBoard.rotateTrench.whileTrue(
         TargetAngleCommand(

src/main/kotlin/com/team4099/robot2026/subsystems/superstructure/Superstructure.kt

@@ -29,7 +29,6 @@ import org.team4099.lib.units.base.Length
 import org.team4099.lib.units.base.Time
 import org.team4099.lib.units.base.inMilliseconds
 import org.team4099.lib.units.derived.Angle
-import org.team4099.lib.units.derived.inDegrees
 import org.team4099.lib.units.inMetersPerSecond
 import org.team4099.lib.units.max
 

src/main/kotlin/com/team4099/robot2026/subsystems/superstructure/shooter/ShooterIO.kt

@@ -32,6 +32,7 @@ interface ShooterIO {
     var shooterLeaderVoltage = 0.0.volts
     var shooterLeaderSupplyCurrent = 0.0.amps
     var shooterLeaderStatorCurrent = 0.0.amps
+    var shooterLeaderTorqueCurrent = 0.0.amps
     var shooterLeaderTemperature = 0.0.celsius
     var shooterLeaderVelocity = 0.0.rotations.perMinute
     var shooterLeaderAcceleration = 0.0.rotations.perMinute.perMinute
@@ -40,33 +41,34 @@ interface ShooterIO {
     var shooterFollowerVoltage = 0.0.volts
     var shooterFollowerSupplyCurrent = 0.0.amps
     var shooterFollowerStatorCurrent = 0.0.amps
+    var shooterFollowerTorqueCurrent = 0.0.amps
     var shooterFollowerTemperature = 0.0.celsius
     var shooterFollowerVelocity = 0.0.rotations.perMinute
     var shooterFollowerAcceleration = 0.0.rotations.perMinute.perMinute
 
-    override fun toLog(table: LogTable?) {
-
+    override fun toLog(table: LogTable) {
       // leader
-      table?.put("ShooterLeaderVoltage", shooterLeaderVoltage.inVolts)
-      table?.put("ShooterLeaderSupplyCurrent", shooterLeaderSupplyCurrent.inAmperes)
-      table?.put("ShooterLeaderStatorCurrent", shooterLeaderStatorCurrent.inAmperes)
-      table?.put("ShooterLeaderTemperature", shooterLeaderTemperature.inCelsius)
-      table?.put("ShooterLeaderVelocityRPM", shooterLeaderVelocity.inRotationsPerMinute)
-      table?.put(
+      table.put("ShooterLeaderVoltage", shooterLeaderVoltage.inVolts)
+      table.put("ShooterLeaderSupplyCurrent", shooterLeaderSupplyCurrent.inAmperes)
+      table.put("ShooterLeaderStatorCurrent", shooterLeaderStatorCurrent.inAmperes)
+      table.put("ShooterLeaderTorqueCurrent", shooterLeaderTorqueCurrent.inAmperes)
+      table.put("ShooterLeaderTemperature", shooterLeaderTemperature.inCelsius)
+      table.put("ShooterLeaderVelocityRPM", shooterLeaderVelocity.inRotationsPerMinute)
+      table.put(
           "ShooterLeaderAccelerationRPMPM", shooterLeaderAcceleration.inRotationsPerMinutePerMinute)
       // follower
-      table?.put("ShooterFollowerVoltage", shooterFollowerVoltage.inVolts)
-      table?.put("ShooterFollowerSupplyCurrent", shooterFollowerSupplyCurrent.inAmperes)
-      table?.put("ShooterFollowerStatorCurrent", shooterFollowerStatorCurrent.inAmperes)
-      table?.put("ShooterFollowerTemperature", shooterFollowerTemperature.inCelsius)
-      table?.put("ShooterFollowerVelocityRPM", shooterFollowerVelocity.inRotationsPerMinute)
-      table?.put(
+      table.put("ShooterFollowerVoltage", shooterFollowerVoltage.inVolts)
+      table.put("ShooterFollowerSupplyCurrent", shooterFollowerSupplyCurrent.inAmperes)
+      table.put("ShooterFollowerStatorCurrent", shooterFollowerStatorCurrent.inAmperes)
+      table.put("ShooterFollowerTorqueCurrent", shooterFollowerTorqueCurrent.inAmperes)
+      table.put("ShooterFollowerTemperature", shooterFollowerTemperature.inCelsius)
+      table.put("ShooterFollowerVelocityRPM", shooterFollowerVelocity.inRotationsPerMinute)
+      table.put(
           "ShooterFollowerAccelerationRPMPM",
           shooterFollowerAcceleration.inRotationsPerMinutePerMinute)
     }
 
     override fun fromLog(table: LogTable) {
-
       // leader
       table.get("ShooterLeaderVoltage", shooterLeaderVoltage.inVolts).let {
         shooterLeaderVoltage = it.volts
@@ -77,6 +79,9 @@ interface ShooterIO {
       table.get("ShooterLeaderStatorCurrent", shooterLeaderStatorCurrent.inAmperes).let {
         shooterLeaderStatorCurrent = it.amps
       }
+      table.get("ShooterLeaderTorqueCurrent", shooterLeaderTorqueCurrent.inAmperes).let {
+        shooterLeaderTorqueCurrent = it.amps
+      }
       table.get("ShooterLeaderTemperature", shooterLeaderTemperature.inCelsius).let {
         shooterLeaderTemperature = it.celsius
       }
@@ -98,6 +103,9 @@ interface ShooterIO {
       table.get("ShooterFollowerStatorCurrent", shooterFollowerStatorCurrent.inAmperes).let {
         shooterFollowerStatorCurrent = it.amps
       }
+      table.get("ShooterFollowerTorqueCurrent", shooterFollowerTorqueCurrent.inAmperes).let {
+        shooterFollowerTorqueCurrent = it.amps
+      }
       table.get("ShooterFollowerTemperature", shooterFollowerTemperature.inCelsius).let {
         shooterFollowerTemperature = it.celsius
       }

src/main/kotlin/com/team4099/robot2026/subsystems/superstructure/shooter/ShooterIOSim.kt

@@ -55,6 +55,7 @@ object ShooterIOSim : ShooterIO {
     inputs.shooterLeaderVoltage = shooterSim.inputVoltage.volts
     inputs.shooterLeaderSupplyCurrent = 0.0.amps
     inputs.shooterLeaderStatorCurrent = shooterSim.currentDrawAmps.amps
+    inputs.shooterLeaderTorqueCurrent = shooterSim.currentDrawAmps.amps.absoluteValue
     inputs.shooterLeaderTemperature = 0.0.celsius
 
     inputs.shooterFollowerVelocity = shooterSim.angularVelocityRadPerSec.radians.perSecond
@@ -63,6 +64,7 @@ object ShooterIOSim : ShooterIO {
     inputs.shooterFollowerVoltage = shooterSim.inputVoltage.volts
     inputs.shooterFollowerSupplyCurrent = 0.0.amps
     inputs.shooterFollowerStatorCurrent = shooterSim.currentDrawAmps.amps
+    inputs.shooterFollowerTorqueCurrent = shooterSim.currentDrawAmps.amps.absoluteValue
     inputs.shooterFollowerTemperature = 0.0.celsius
   }
 

src/main/kotlin/com/team4099/robot2026/subsystems/superstructure/shooter/ShooterIOTalon.kt

@@ -60,13 +60,15 @@ object ShooterIOTalon : ShooterIO {
           followerTalon, ShooterConstants.GEAR_RATIO, ShooterConstants.VOLTAGE_COMPENSATION)
 
   private var leaderStatorCurrentSignal: StatusSignal<WPILibCurrent>
+  private var leaderTorqueCurrentSignal: StatusSignal<WPILibCurrent>
   private var leaderSupplyCurrentSignal: StatusSignal<WPILibCurrent>
   private var leaderTempSignal: StatusSignal<WPILibTemperature>
   private var leaderVoltageSignal: StatusSignal<WPILibVoltage>
   private var leaderAccelSignal: StatusSignal<WPILibAngularAcceleration>
   private var leaderVelocitySignal: StatusSignal<WPILibAngularVelocity>
 
   private var followerStatorCurrentSignal: StatusSignal<WPILibCurrent>
+  private var followerTorqueCurrentSignal: StatusSignal<WPILibCurrent>
   private var followerSupplyCurrentSignal: StatusSignal<WPILibCurrent>
   private var followerTempSignal: StatusSignal<WPILibTemperature>
   private var followerVoltageSignal: StatusSignal<WPILibVoltage>
@@ -88,13 +90,15 @@ object ShooterIOTalon : ShooterIO {
     followerTalon.configurator.apply(configs)
 
     leaderSupplyCurrentSignal = leaderTalon.supplyCurrent
+    leaderTorqueCurrentSignal = leaderTalon.torqueCurrent
     leaderStatorCurrentSignal = leaderTalon.statorCurrent
     leaderVelocitySignal = leaderTalon.velocity
     leaderTempSignal = leaderTalon.deviceTemp
     leaderVoltageSignal = leaderTalon.motorVoltage
     leaderAccelSignal = leaderTalon.acceleration
 
     followerSupplyCurrentSignal = followerTalon.supplyCurrent
+    followerTorqueCurrentSignal = followerTalon.torqueCurrent
     followerStatorCurrentSignal = followerTalon.statorCurrent
     followerVelocitySignal = followerTalon.velocity
     followerTempSignal = followerTalon.deviceTemp
@@ -109,11 +113,13 @@ object ShooterIOTalon : ShooterIO {
     BaseStatusSignal.refreshAll(
         leaderSupplyCurrentSignal,
         leaderStatorCurrentSignal,
+        leaderTorqueCurrentSignal,
         leaderVelocitySignal,
         leaderTempSignal,
         leaderVoltageSignal,
         leaderAccelSignal,
         followerStatorCurrentSignal,
+        followerTorqueCurrentSignal,
         followerSupplyCurrentSignal,
         followerVelocitySignal,
         followerTempSignal,
@@ -141,11 +147,13 @@ object ShooterIOTalon : ShooterIO {
     inputs.shooterLeaderTemperature = leaderTempSignal.valueAsDouble.celsius
     inputs.shooterLeaderSupplyCurrent = leaderSupplyCurrentSignal.valueAsDouble.amps
     inputs.shooterLeaderStatorCurrent = leaderStatorCurrentSignal.valueAsDouble.amps
+    inputs.shooterLeaderTorqueCurrent = leaderTorqueCurrentSignal.valueAsDouble.amps
     inputs.shooterLeaderVoltage = leaderVoltageSignal.valueAsDouble.volts
 
     inputs.shooterFollowerTemperature = followerTempSignal.valueAsDouble.celsius
     inputs.shooterFollowerSupplyCurrent = followerSupplyCurrentSignal.valueAsDouble.amps
     inputs.shooterFollowerStatorCurrent = followerStatorCurrentSignal.valueAsDouble.amps
+    inputs.shooterFollowerStatorCurrent = followerTorqueCurrentSignal.valueAsDouble.amps
     inputs.shooterFollowerVoltage = followerVoltageSignal.valueAsDouble.volts
   }