hood angles will change depending on each prep

[JAMES-ROMERO123]

james

[Copilot]

Pull request overview

Refactors shooter “prep” commands to support different flywheel speeds and hood angles per prep state, while standardizing prep behavior through a shared base command.

Changes:

• Added per-location flywheel speed constants and per-location hood angle constants.
• Introduced a BasePrep command and moved/created prep commands under commands.states.preps.
• Renamed the rotors flywheel velocity setter API and updated call sites.

Reviewed changes

Copilot reviewed 17 out of 17 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
src/main/java/frc/robot/subsystems/Rotors.java	Renames flywheel velocity setter method.
src/main/java/frc/robot/constants/ConstRotors.java	Adds preset flywheel speeds for multiple prep locations.
src/main/java/frc/robot/constants/ConstMotion.java	Adds preset hood angles for multiple prep locations.
src/main/java/frc/robot/commands/states/Shooting.java	Updates to the renamed flywheel setter method.
src/main/java/frc/robot/commands/states/PrepTrench.java	Removes old stub prep command (migrated to preps).
src/main/java/frc/robot/commands/states/PrepTower.java	Removes old stub prep command (migrated to preps).
src/main/java/frc/robot/commands/states/PrepOpponentToAlliance.java	Removes old stub prep command (migrated to preps).
src/main/java/frc/robot/commands/states/PrepHub.java	Removes old stub prep command (migrated to preps).
src/main/java/frc/robot/commands/states/PrepCorner.java	Removes old stub prep command (migrated to preps).
src/main/java/frc/robot/commands/states/preps/BasePrep.java	Adds shared prep behavior (set flywheel, hood, and robot state).
src/main/java/frc/robot/commands/states/preps/PrepTrench.java	New trench prep using BasePrep with trench constants.
src/main/java/frc/robot/commands/states/preps/PrepTower.java	New tower prep using BasePrep with tower constants.
src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java	New opponent-to-alliance prep using BasePrep with constants.
src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java	Moves/updates neutral-to-alliance prep to use BasePrep.
src/main/java/frc/robot/commands/states/preps/PrepHub.java	New hub prep using BasePrep with hub constants.
src/main/java/frc/robot/commands/states/preps/PrepCorner.java	New corner prep using BasePrep with corner constants.
src/main/java/frc/robot/commands/states/preps/PrepAnywhere.java	Moves prep-anywhere command into preps package (currently still placeholder).

Comments suppressed due to low confidence (2)

src/main/java/frc/robot/commands/states/preps/PrepAnywhere.java:19

• PrepAnywhere is still an empty placeholder command, so scheduling it will not set the flywheel speed, hood angle, or robot state like the other prep commands do. This likely defeats the purpose of the new per-prep hood/flywheel constants.
  src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java:8
• This file has an unused Command import, and the class Javadoc still references the old misspelled name ("PrepNeautralToAlliance").

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[TaylerUva]

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