14 move drivetrain into subsystem by ngarnsworthy · Pull Request #17 · IrishRobotics/FTC25

ngarnsworthy · 2025-10-23T01:04:06Z

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Added the new subsystem and command. Fixed PrimaryOpMode to be proper type.

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Pull Request Overview

This PR refactors the drivetrain implementation into a dedicated subsystem following the command-based architecture pattern. The changes improve code organization by separating concerns and establishing proper command-subsystem relationships.

Key Changes:

Created a new Drivetrain subsystem to encapsulate motor management and drive logic
Implemented UserDrive command to handle driver input for the drivetrain
Converted PrimaryOpMode from OpMode to CommandOpMode to support the command-based architecture

Reviewed Changes

Copilot reviewed 6 out of 7 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
Drivetrain.java	New subsystem class that encapsulates four mecanum drive motors and provides movement methods
UserDrive.java	New command that binds gamepad input to drivetrain movement
PrimaryOpMode.java	Refactored to use CommandOpMode with subsystem/command architecture instead of direct motor control in loop()
Shooter.java	Made shooterMotor field final for immutability
RunShooter.java	Made fields final and removed redundant isFinished() override
readme.md	Minor formatting improvements to documentation

Comments suppressed due to low confidence (1)

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PrimaryOpMode.java:1

The rotation parameter uses getRightY() but the original code used getRightX() for rotation. This changes the control scheme from right stick horizontal movement to vertical movement for rotation, which is likely unintended.

package org.firstinspires.ftc.teamcode;

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/UserDrive.java

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Copilot

Pull Request Overview

Copilot reviewed 6 out of 7 changed files in this pull request and generated 1 comment.

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/UserDrive.java

ngarnsworthy

Everything should work

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Copilot

Pull Request Overview

Copilot reviewed 6 out of 7 changed files in this pull request and generated 1 comment.

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/UserDrive.java

Copilot

Pull Request Overview

Copilot reviewed 10 out of 10 changed files in this pull request and generated 1 comment.

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Copilot · 2025-10-23T13:17:58Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/BackupOpMode.java

+        driverOp = new GamepadEx(gamepad1);
+        coOp = new GamepadEx(gamepad2);
+
+        drivetrain = new Drivetrain(hardwareMap, "frontLeftDrive", "frontRightDrive", "backLeftDrive", "backRightDrive");


[nitpick] The motor names are duplicated between PrimaryOpMode and BackupOpMode. Consider extracting these as constants to a shared configuration class to ensure consistency and ease maintenance.

Copilot

Pull Request Overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated 1 comment.

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/BackupOpMode.java

naterbots

See comment about RunShooter command

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunShooter.java

Copilot

Pull Request Overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated 2 comments.

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/BackupOpMode.java

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Pull Request Overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated no new comments.

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naterbots

@ngarnsworthy, what is the difference between Primary Op Mode and Backup Op Mode?

ngarnsworthy · 2025-10-25T14:47:37Z

@naterbots Currently nothing but the idea is if we add vision, field centric, etc. those would only be in primary op mode and we could fall back to to backup if any issues popped up like they did at FRC last year.

ngarnsworthy added 2 commits October 22, 2025 19:49

Created the UserDrive command and the Drivetrain subsystem.

f7fea78

Added the new subsystem and command. Fixed PrimaryOpMode to be proper type.

Run formatting command

bdf07c2

Copilot AI review requested due to automatic review settings October 23, 2025 01:04

ngarnsworthy linked an issue Oct 23, 2025 that may be closed by this pull request

Move drivetrain into subsystem #14

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Copilot AI reviewed Oct 23, 2025

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/UserDrive.java Show resolved Hide resolved

Fix the lack of a requirement for UserDrive command

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ngarnsworthy requested a review from Copilot October 23, 2025 01:05

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ngarnsworthy commented Oct 23, 2025

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I can't copy code over very well

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ngarnsworthy requested a review from Copilot October 23, 2025 01:09

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/UserDrive.java Show resolved Hide resolved

ngarnsworthy requested a review from naterbots October 23, 2025 01:09

ngarnsworthy enabled auto-merge October 23, 2025 01:15

ngarnsworthy disabled auto-merge October 23, 2025 12:49

ngarnsworthy added 2 commits October 23, 2025 08:05

Add documentation

abcd4f3

Add backup op mode

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ngarnsworthy requested a review from Copilot October 23, 2025 13:17

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Move contents to contents class

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ngarnsworthy requested a review from Copilot October 23, 2025 13:35

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/BackupOpMode.java Show resolved Hide resolved

ngarnsworthy enabled auto-merge October 23, 2025 13:36

ngarnsworthy mentioned this pull request Oct 23, 2025

Added Intake Subsystem #22

Closed

Merge branch 'master' into 14-move-drivetrain-into-subsystem

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naterbots reviewed Oct 24, 2025

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunShooter.java Show resolved Hide resolved

ngarnsworthy requested review from Copilot and naterbots October 24, 2025 13:10

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java Outdated Show resolved Hide resolved

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ngarnsworthy requested a review from Copilot October 24, 2025 16:33

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naterbots reviewed Oct 25, 2025

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ngarnsworthy requested a review from naterbots October 25, 2025 14:49

naterbots approved these changes Oct 25, 2025

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ngarnsworthy merged commit 9f93c24 into master Oct 25, 2025
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ngarnsworthy deleted the 14-move-drivetrain-into-subsystem branch October 25, 2025 14:57

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ngarnsworthy commented Oct 25, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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ngarnsworthy commented Oct 25, 2025 •

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