deployable intake sim

[rafzip]

Mass properties are from last yr

[rafzip]

i cant use my laptop and didn't configure ruff

[rafzip]

nvm it's a conflict

[auscompgeek]

Have you measured this from the CAD yet?

[rafzip]

no because its not cadded yet

[rafzip]

pre-commit.ci autofix

[rafzip]

@greptileai

[greptile-apps]

Greptile Overview

Greptile Summary

Added intake arm motor control and simulation support to make the intake deployable. Major changes include:

• Added Spark MAX motor controller for intake arm with PID control and absolute encoder feedback
• Configured arm physics simulation with gravity using SingleJointedArmSim
• Added simulation constants (MOI, arm length, angle limits) from last year's robot
• Created Mechanism2d visualization ligament for the intake
• Removed unused A-Frame and Wrist mechanism roots from robot initialization

Confidence Score: 4/5

• Safe to merge with minor improvements possible
• Code structure is solid with proper motor controller configuration and physics simulation. Multiple TODOs indicate values need tuning/verification (encoder gearing, PID values, simulation constants from last year) but these will be caught during testing. The visualization ligament could be updated but this doesn't affect functionality.
• Pay attention to components/intake.py which has several TODO comments for values that need tuning/verification

Important Files Changed

Filename	Overview
components/intake.py	Added intake arm motor with Spark MAX controller, absolute encoder, PID control, and simulation constants - includes visualization ligament that isn't updated
physics.py	Added intake arm physics simulation using SingleJointedArmSim with gravity - converts radians to rotations for encoder

Sequence Diagram

sequenceDiagram
    participant Robot
    participant IntakeComponent
    participant SparkMax
    participant AbsoluteEncoder
    participant PhysicsEngine
    participant SingleJointedArmSim
    
    Robot->>IntakeComponent: __init__(intake_mech_root)
    IntakeComponent->>SparkMax: Create arm_motor (ID 12)
    IntakeComponent->>SparkMax: Configure PID (0.005, 0.0, 0.0)
    IntakeComponent->>AbsoluteEncoder: Configure conversion factor
    IntakeComponent->>IntakeComponent: Create intake_ligament visualization
    
    Robot->>PhysicsEngine: __init__(robot)
    PhysicsEngine->>SingleJointedArmSim: Create arm simulation
    Note over SingleJointedArmSim: gear_ratio=24, MOI=0.181717788<br/>length=0.22m, with gravity
    
    loop Every robot cycle
        Robot->>IntakeComponent: execute()
        IntakeComponent->>SparkMax: Apply motor commands
        
        alt In Simulation
            PhysicsEngine->>SingleJointedArmSim: update(dt)
            SingleJointedArmSim->>SingleJointedArmSim: Calculate physics with gravity
            SingleJointedArmSim-->>PhysicsEngine: arm angle (radians)
            PhysicsEngine->>PhysicsEngine: Convert radians to rotations
            PhysicsEngine->>SparkMax: setPosition(arm_angle_rot)
            SparkMax->>AbsoluteEncoder: Update encoder position
        end
    end

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[greptile-apps]

_{2 files reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

[greptile-apps]

consider updating intake_ligament.setAngle() in execute() to reflect the actual arm position in the Mechanism2d visualization (similar to how turret updates its sim_pointer)

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

Prompt To Fix With AI

This is a comment left during a code review.
Path: components/intake.py
Line: 34:36

Comment:
consider updating `intake_ligament.setAngle()` in `execute()` to reflect the actual arm position in the Mechanism2d visualization (similar to how turret updates its sim_pointer)

<sub>Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!</sub>

How can I resolve this? If you propose a fix, please make it concise.