Skip to main content

Documentation Index

Fetch the complete documentation index at: https://mintlify.com/spectrum3847/2026-Spectrum/llms.txt

Use this file to discover all available pages before exploring further.

The Launcher subsystem spins four Kraken X60 FOC motors to accelerate fuel game pieces to the correct exit velocity. The Hood subsystem adjusts the launch angle via a TalonFX-driven arm mechanism. Together with the swerve drive auto-rotating toward the goal (via pilotAimAtTarget), they implement a closed-loop shoot-on-the-move system driven by ShotCalculator.

​
Launcher hardware

Launcher is configured in LauncherConfig with CAN IDs 46–49, all on the CANIVORE bus. Motor 46 is the leader; motors 47–49 are permanent followers.
MotorCAN IDAlignment
Launcher (leader)46—
Launcher Top Right47Opposed
Launcher Bottom Left48Aligned
Launcher Bottom Right49Opposed
Key config values used at runtime:
Launcher.java
@Getter @Setter private double idlingRPM = 700;
@Getter @Setter private double slowLaunchSpeed = 400;
@Getter @Setter private double autoTrenchLaunch = 1800;
@Getter @Setter private double LauncherVoltage = 9.0;
@Getter @Setter private double LauncherTorqueCurrent = 85.0;
@Getter private double onTargetToleranceRPM = 100;
The velocity loop uses Torque-FOC with gains Kp = 10, Ks = 20, and Kv = 0. Current limits are tiered: 80 A supply current dropping to 60 A after 1 s, with a 100 A stator limit.

​
LauncherStates command reference

LauncherStates schedules commands onto the Launcher subsystem using the same scheduleIfNotRunning guard used throughout the codebase.
State methodBehavior
idlePrep()Spin at idlingRPM (700 RPM) — keeps flywheel warm
aimAtTarget()Track shot speed via ShotCalculator (trackTargetCommand)
autonAimAtTarget()Fixed velocity at autoTrenchLaunch (1800 RPM) for autonomous
slowLaunch()Fixed velocity at slowLaunchSpeed (400 RPM)
customLaunchSpeed()Live-tunable speed from NetworkTables (OnTheFlySpeed)
neutral()Zero voltage
coastMode() / ensureBrakeMode()Motor neutral mode changes
launchFuel() is a Command (not a void state setter) returned for composition:
LauncherStates.java
public static Command launchFuel() {
    return launcher.runTorqueFOC(config::getLauncherTorqueCurrent)
            .withName("Launcher.launchFuelCommand");
}

​
aimingAtTarget() trigger

LauncherStates.aimingAtTarget() wraps launcher.aimingAtTarget(), which compares the current flywheel RPM against the ShotCalculator setpoint within the onTargetToleranceRPM window (100 RPM). Robot states use this trigger to gate the actual fuel release — the indexer tower does not advance until the launcher is on target.
LauncherStates.java
public static Trigger aimingAtTarget() {
    return launcher.aimingAtTarget();
}
LauncherStates.java
public static void aimAtTarget() {
    scheduleIfNotRunning(launcher.trackTargetCommand().withName("Launcher.aimAtHub"));
}

public static Command aimAtTargetCommand() {
    return log(launcher.trackTargetCommand().withName("Launcher.aimAtHubCommand"));
}

​
TRACK_TARGET and LAUNCH_WITH_SQUEEZE states

RobotStates defines the targeting and launch states that coordinate the launcher and swerve drive:
1

TRACK_TARGET (pilot X button, whileTrue)

The robot enters TRACK_TARGET when the pilot holds the X button. The swerve drive calls pilotAimAtTarget to rotate the chassis toward the goal angle computed by ShotCalculator. LauncherStates.aimAtTarget() spins the flywheel to the calculated speed. The indexer remains neutral — no fuel is advanced yet.
2

LAUNCH_WITH_SQUEEZE (pilot LT, when RT not held)

When the pilot presses LT the robot transitions to LAUNCH_WITH_SQUEEZE. The launcher continues tracking. Once aimingAtTarget() is true the IndexerTower advances fuel into the spinning flywheel via launchFuel().
The swerve bindings for these states are declared in SwerveStates:
SwerveStates.java
private static final Trigger launching =
        new Trigger(
                () ->
                        RobotStates.getAppliedState() == State.LAUNCH_WITH_SQUEEZE
                                || RobotStates.getAppliedState() == State.LAUNCH_WITHOUT_SQUEEZE);

private static final Trigger launchPreping =
        new Trigger(() -> RobotStates.getAppliedState() == State.TRACK_TARGET);

(launching.or(launchPreping))
        .and(isRed, Util.autoMode.not())
        .whileTrue(log(pilotAimAtTargetRed()));

​
Shot sequence flow

The full shot sequence from aiming to fuel exit: 
Pilot holds X button
  └─ TRACK_TARGET: swerve rotates to goal, flywheel spins up

Pilot presses LT
  └─ LAUNCH_WITH_SQUEEZE
       └─ aimingAtTarget() true?
            ├─ Yes → IndexerTower.launchFuel() → fuel exits
            └─ No  → wait for flywheel to reach target RPM

Launcher source

Four-motor flywheel config, current limits, and simulation setup.

LauncherStates source

All state command factories and the aimingAtTarget trigger.

Build docs developers (and LLMs) love

Get started for freeTalk to us