not sure if correct but turretsubsystem auto stubs filled

src/main/java/frc/robot/Robot.java

@@ -183,6 +183,10 @@ public void placeGamePiecesOnField() {}
     SimulatedArena.overrideInstance(new EvergreenArena());
   }
 
+    Indexer indexer = null;
+    Intake intake = null;
+    Shooter shooter = null;
+
   // this is here because it doesn't like that the power distribution logger is never closed
   @SuppressWarnings("resource")
   public Robot() {
@@ -235,11 +239,11 @@ public Robot() {
         shooter =
             new ShooterSubsystem(
                 ROBOT_MODE == RobotMode.REAL
-                    ? new HoodIO(HoodIO.getHoodConfiguration(), canivore)
-                    : new HoodIOSim(canivore),
+                    ? new HoodIO(HoodIO.getHoodAlphaConfiguration(), canivore)
+                    : new HoodIOSim(canivore,HoodIO.getHoodAlphaConfiguration(),ShooterSubsystem.HOOD_GEAR_RATIO_A),
                 ROBOT_MODE == RobotMode.REAL
-                    ? new FlywheelIO(FlywheelIO.getFlywheelConfiguration(), canivore)
-                    : new FlywheelIOSim(FlywheelIO.getFlywheelConfiguration(), canivore));
+                    ? new FlywheelIO(FlywheelIO.getFlywheelAlphaConfiguration(), canivore)
+                    : new FlywheelIOSim(FlywheelIO.getFlywheelAlphaConfiguration(), canivore, ShooterSubsystem.FLYWHEEL_GEAR_RATIO));
 
         intake =
             new FintakeSubsystem(
@@ -259,7 +263,15 @@ public Robot() {
       case COMP:
         indexer = new SpindexerSubsystem();
         intake = new LintakeSubsystem();
-        shooter = new TurretSubsystem();
+        shooter =
+            new TurretSubsystem(
+                ROBOT_MODE == RobotMode.REAL
+                    ? new FlywheelIO(FlywheelIO.getFlywheelCompConfiguration(), canivore)
+                    : new FlywheelIOSim(FlywheelIO.getFlywheelCompConfiguration(), canivore, TurretSubsystem.FLYWHEEL_GEAR_RATIO_C),
+                ROBOT_MODE == RobotMode.REAL
+                    ? new HoodIO(HoodIO.getHoodCompConfiguration(), canivore)
+                    : new HoodIOSim(canivore, HoodIO.getHoodCompConfiguration(),TurretSubsystem.HOOD_GEAR_RATIO_C));
+
         climber = new ClimberSubsystem(); // TODO climber
         break;
     }
@@ -288,6 +300,10 @@ public Robot() {
     // log if we have uncommitted changes
     switch (BuildConstants.DIRTY) {
       case 0:
+
+
+
+
         Logger.recordMetadata("GitDirty", "All changes committed");
         break;
       case 1:
@@ -461,6 +477,11 @@ private void addAutos() {
     // autoChooser.addOption("Index Roller Sysid", indexer.runRollerSysId());
     // autoChooser.addOption("Intake Roller Sysid", intake.runRollerSysid());
     // autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid());
+    autoChooser.addOption("Pitcheck/Intake ", Commands.sequence(
+      intake.intake().withTimeout(1),
+      intake.rest().withTimeout(1),
+      intake.outtake().withTimeout(1))
+    );
     haveAutosGenerated = true;
     System.out.println("Done generating autos");
   }

src/main/java/frc/robot/subsystems/climber/ClimberSubsystem

@@ -0,0 +1,24 @@
+package frc.robot.subsystems.climber;
+
+import static edu.wpi.first.units.Units.Volts;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Mechanism;
+import frc.robot.utils.autoaim.AutoAim;
+import frc.robot.utils.autoaim.InterpolatingShotTree.ShotData;
+import java.util.function.Supplier;
+import org.littletonrobotics.junction.Logger;
+
+
+
+public class ClimberSubsystem extends SubsystemBase{
+
+}

src/main/java/frc/robot/subsystems/shooter/FlywheelIO.java

@@ -113,7 +113,7 @@ public FlywheelIO(TalonFXConfiguration config, CANBus canbus) {
     flywheelFollower.optimizeBusUtilization();
   }
 
-  public static TalonFXConfiguration getFlywheelConfiguration() {
+  public static TalonFXConfiguration getFlywheelAlphaConfiguration() {
     TalonFXConfiguration config = new TalonFXConfiguration();
 
     config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
@@ -136,6 +136,29 @@ public static TalonFXConfiguration getFlywheelConfiguration() {
     return config;
   }
 
+  public static TalonFXConfiguration getFlywheelCompConfiguration() {
+    TalonFXConfiguration config = new TalonFXConfiguration();
+
+    config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
+    config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+
+    config.Feedback.SensorToMechanismRatio = TurretSubsystem.FLYWHEEL_GEAR_RATIO_C;
+
+    config.Slot0.kS = 0;
+    config.Slot0.kV = 0;
+    config.Slot0.kA = 0;
+    config.Slot0.kP = 0;
+    config.Slot0.kD = 0;
+
+    config.CurrentLimits.StatorCurrentLimit = 120.0;
+    config.CurrentLimits.StatorCurrentLimitEnable = true;
+    config.CurrentLimits.SupplyCurrentLimit = 80.0;
+
+    config.MotionMagic.MotionMagicAcceleration = 100.0;
+
+    return config;
+  }
+
   public void setFlywheelVoltage(double volts) {
     flywheelLeader.setControl(voltageOut.withOutput(volts));
   }

src/main/java/frc/robot/subsystems/shooter/FlywheelIOSim.java

@@ -22,18 +22,21 @@
 /** Add your docs here. */
 public class FlywheelIOSim extends FlywheelIO {
   TalonFXSimState leaderFxSimState;
-  DCMotorSim physicsSim =
-      new DCMotorSim(
-          LinearSystemId.createDCMotorSystem(
-              DCMotor.getKrakenX60Foc(2), 0.0136, ShooterSubsystem.FLYWHEEL_GEAR_RATIO),
-          DCMotor.getKrakenX60Foc(2));
+  DCMotorSim physicsSim; 
+
 
   private final double simLoopPeriod = 0.002;
   private Notifier simNotifier;
   private double lastSimTime = 0.0;
 
-  public FlywheelIOSim(TalonFXConfiguration config, CANBus canbus) {
+  public FlywheelIOSim(TalonFXConfiguration config, CANBus canbus, double gearRatio) {
+
     super(config, canbus);
+    physicsSim = 
+      new DCMotorSim(
+          LinearSystemId.createDCMotorSystem(
+              DCMotor.getKrakenX60Foc(2), 0.0136, gearRatio),
+          DCMotor.getKrakenX60Foc(2));
     leaderFxSimState = flywheelLeader.getSimState();
     leaderFxSimState.setMotorType(MotorType.KrakenX60);
     leaderFxSimState.Orientation = ChassisReference.CounterClockwise_Positive;
@@ -51,9 +54,9 @@ public FlywheelIOSim(TalonFXConfiguration config, CANBus canbus) {
               physicsSim.update(deltaTime);
 
               leaderFxSimState.setRawRotorPosition(
-                  physicsSim.getAngularPosition().in(Rotations) * physicsSim.getGearing());
+                  physicsSim.getAngularPosition().in(Rotations) * gearRatio);
               leaderFxSimState.setRotorVelocity(
-                  physicsSim.getAngularVelocity().in(RotationsPerSecond) * physicsSim.getGearing());
+                  physicsSim.getAngularVelocity().in(RotationsPerSecond) * gearRatio);
             });
 
     simNotifier.startPeriodic(simLoopPeriod);

src/main/java/frc/robot/subsystems/shooter/HoodIO.java

@@ -55,7 +55,7 @@ public static class HoodIOInputs {
 
   public HoodIO(TalonFXConfiguration talonFXConfiguration, CANBus canbus) {
     hoodMotor = new TalonFX(11, canbus);
-    hoodMotor.getConfigurator().apply(HoodIO.getHoodConfiguration());
+    hoodMotor.getConfigurator().apply(talonFXConfiguration);
 
     hoodPositionRotations = hoodMotor.getPosition();
     hoodAngularVelocity = hoodMotor.getVelocity();
@@ -75,7 +75,7 @@ public HoodIO(TalonFXConfiguration talonFXConfiguration, CANBus canbus) {
     hoodMotor.optimizeBusUtilization();
   }
 
-  public static TalonFXConfiguration getHoodConfiguration() {
+  public static TalonFXConfiguration getHoodAlphaConfiguration() {
     TalonFXConfiguration config = new TalonFXConfiguration();
 
     config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
@@ -86,7 +86,7 @@ public static TalonFXConfiguration getHoodConfiguration() {
 
     config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
 
-    config.Feedback.SensorToMechanismRatio = ShooterSubsystem.HOOD_GEAR_RATIO;
+    config.Feedback.SensorToMechanismRatio = ShooterSubsystem.HOOD_GEAR_RATIO_A;
 
     config.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
 
@@ -103,6 +103,35 @@ public static TalonFXConfiguration getHoodConfiguration() {
     return config;
   }
 
+  public static TalonFXConfiguration getHoodCompConfiguration(){
+    TalonFXConfiguration config = new TalonFXConfiguration();
+
+    config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+
+    config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+
+    config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+
+    config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+
+    config.Feedback.SensorToMechanismRatio = TurretSubsystem.HOOD_GEAR_RATIO_C;
+
+    config.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
+
+    config.Slot0.kS = 0;
+    config.Slot0.kG = 0;
+    config.Slot0.kV = 0;
+    config.Slot0.kP = 0;
+    config.Slot0.kD = 0;
+
+    config.CurrentLimits.StatorCurrentLimit = 80.0;
+    config.CurrentLimits.StatorCurrentLimitEnable = true;
+    config.CurrentLimits.SupplyCurrentLimit = 60.0;
+
+    return config;
+
+  }
+
   public void setHoodVoltage(double hoodVoltage) {
     hoodMotor.setControl(voltageOut.withOutput(hoodVoltage));
   }

src/main/java/frc/robot/subsystems/shooter/HoodIOSim.java

@@ -2,6 +2,7 @@
 
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.Utils;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.sim.ChassisReference;
 import com.ctre.phoenix6.sim.TalonFXSimState;
 import com.ctre.phoenix6.sim.TalonFXSimState.MotorType;
@@ -14,20 +15,34 @@
 public class HoodIOSim extends HoodIO {
   TalonFXSimState hoodMotorSim;
 
-  private final DCMotorSim hoodPhysicsSim =
-      new DCMotorSim(
-          LinearSystemId.createDCMotorSystem(
-              DCMotor.getKrakenX44Foc(1), 0.01, ShooterSubsystem.HOOD_GEAR_RATIO),
-          DCMotor.getKrakenX44Foc(1));
-
+  private final DCMotorSim hoodPhysicsSim;
+
   // will get updated when i get specs
 
   private final double simLoopPeriod = 0.002; // 2 ms
   private Notifier simNotifier = null;
   private double lastSimTime = 0.0;
 
-  public HoodIOSim(CANBus canbus) {
-    super(HoodIO.getHoodConfiguration(), canbus);
+
+
+
+
+
+
+
+
+
+
+
+
+  public HoodIOSim(CANBus canbus, TalonFXConfiguration config, double gearRatio ) {
+    super(config, canbus);
+    hoodPhysicsSim =
+      new DCMotorSim(
+          LinearSystemId.createDCMotorSystem(
+              DCMotor.getKrakenX44Foc(1), 0.01,gearRatio),
+          DCMotor.getKrakenX44Foc(1));
+
     hoodMotorSim = hoodMotor.getSimState();
     hoodMotorSim.setMotorType(MotorType.KrakenX44);
     hoodMotorSim.Orientation = ChassisReference.Clockwise_Positive;
@@ -45,12 +60,18 @@ public HoodIOSim(CANBus canbus) {
               hoodPhysicsSim.update(deltaTime);
 
               // rotor position stuff added later when i have access to onshape
-
-              hoodMotorSim.setRawRotorPosition(
-                  hoodPhysicsSim.getAngularPositionRad() * (ShooterSubsystem.HOOD_GEAR_RATIO));
-              hoodMotorSim.setRotorVelocity(
-                  hoodPhysicsSim.getAngularVelocityRPM() / 60.0 * ShooterSubsystem.HOOD_GEAR_RATIO);
+
+                hoodMotorSim.setRawRotorPosition(
+                  hoodPhysicsSim.getAngularPositionRad() * (gearRatio));
+                hoodMotorSim.setRotorVelocity(
+                  hoodPhysicsSim.getAngularVelocityRPM() / 60.0 * gearRatio);
+
+
+
+
             });
+
     simNotifier.startPeriodic(simLoopPeriod);
   }
 }
+

src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java

@@ -25,7 +25,8 @@
 
 /** Fixed shooter. !! ALPHA !! */
 public class ShooterSubsystem extends SubsystemBase implements Shooter {
-  public static double HOOD_GEAR_RATIO = 24.230769;
+  public static double HOOD_GEAR_RATIO_A = 24.230769;
+
   public static Rotation2d HOOD_MAX_ROTATION = Rotation2d.fromDegrees(40);
   public static Rotation2d HOOD_MIN_ROTATION = Rotation2d.fromDegrees(2);