Merge branches 'main' and 'main' of github.com:FairportRobotics/Castor2026

src/main/java/frc/robot/Constants.java

@@ -66,7 +66,7 @@ public final class Constants {
   }
   
   public static class IntakeConstants {
-    public static final int DEPLOY_MOTOR_ID = 0;
+    public static final int DEPLOY_MOTOR_ID = 12;
     public static final int INTAKE_MOTOR_ID = 1; 
   }
 

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

@@ -12,6 +12,9 @@ import frc.robot.commands.Autos;
 import frc.robot.commands.ExampleCommand;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.subsystems.HopperSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.TurretSubsystem;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -31,6 +34,12 @@ public class RobotContainer {
 
   public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
 
+  public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
+
+  public final TurretSubsystem turretSubsystem = new TurretSubsystem();
+
+  public final HopperSubsystem hopperSubsystem = new HopperSubsystem();
+  
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the trigger bindings

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -37,13 +37,11 @@ public class IntakeSubsystem extends TestableSubsystem {
   public void extend()
   {
     deployMotor.set(1);
-
   }
 
   public void retract()
   {
     deployMotor.set(-1);
-
   }
 
   public void setSpeed(double speed)

src/main/java/frc/robot/subsystems/TurretSubsystem.java

@@ -10,6 +10,8 @@ import org.fairportrobotics.frc.posty.test.PostTest;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
 import frc.robot.Constants;
@@ -29,7 +31,7 @@ public class TurretSubsystem extends TestableSubsystem {
   private TurretState currentState;
   private DigitalInput turretLimitSwitch;
   private TalonFX turretMotor;
-  private TalonFX launcherMotor;
+  private SparkMax launcherMotor;
   private Servo hood;
   private CANcoder hoodEncoder;
   private Angle limitPos;
@@ -41,7 +43,7 @@ public class TurretSubsystem extends TestableSubsystem {
     turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.LIMIT_CHANNEL);
     turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_ID);
 
-    launcherMotor = new TalonFX(Constants.ShooterConstants.LAUNCHER_ID);
+    launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_ID, MotorType.kBrushless);
 
     hood = new Servo(Constants.ShooterConstants.HOOD_CHANNEL);
     hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID);

vendordeps/REVLib.json

@@ -0,0 +1,133 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2026.0.4",
+    "frcYear": "2026",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2026.0.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2026.0.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2026.0.4",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2026.0.4",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.4",
+            "libName": "BackendDriver",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.4",
+            "libName": "REVLibWpi",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}