Gate hopper behind feature flag

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

@@ -28,9 +28,6 @@ public final class Constants {
   public static final Mode simMode = Mode.SIM;
   public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
 
-  /** Enable to print loop timing when total exceeds 20ms. */
-  public static final boolean PROFILING_ENABLED = false;
-
   public static enum Mode {
     /** Running on a real robot. */
     REAL,
@@ -42,6 +39,14 @@ public static enum Mode {
     REPLAY
   }
 
+  public static final class FeatureFlags {
+    /** Enable to print loop timing when total exceeds 20ms. */
+    public static final boolean PROFILING_ENABLED = false;
+
+    /** Set to false to disable the hopper subsystem entirely. */
+    public static final boolean kHopperEnabled = true;
+  }
+
   public final class RobotConstants {
     public static final double kNominalVoltage = 12.0;
   }

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

@@ -38,6 +38,7 @@
 import frc.lib.LoggedPowerDistribution;
 import frc.lib.ZorroController.Axis;
 import frc.robot.Constants.DIOPorts;
+import frc.robot.Constants.FeatureFlags;
 import frc.robot.auto.B_LeftTrenchAuto;
 import frc.robot.auto.B_LeftTrenchMoveFirstAuto;
 import frc.robot.auto.B_RightTrenchAuto;
@@ -195,7 +196,7 @@ public Robot() {
                 new TurretIOSpark(),
                 new FlywheelIOTalonFX(),
                 new HoodIOSpark());
-        hopper = new Hopper(new HopperIOReal());
+        if (FeatureFlags.kHopperEnabled) hopper = new Hopper(new HopperIOReal());
         intake =
             new Intake(
                 new RollerIOTalonFX(RollerConstants.upperRollerConfig),
@@ -241,7 +242,7 @@ public Robot() {
                 new FlywheelIOSimTalonFX(),
                 new HoodIOSimSpark());
         feeder = new Feeder(new SpindexerIOSimSpark(), new KickerIOSimSpark());
-        hopper = new Hopper(new HopperIOSim());
+        if (FeatureFlags.kHopperEnabled) hopper = new Hopper(new HopperIOSim());
         var intakeArmIOSim = new IntakeArmIOSim();
         intake =
             new Intake(
@@ -283,7 +284,7 @@ public Robot() {
                 new TurretIO() {},
                 new FlywheelIO() {},
                 new HoodIO() {});
-        hopper = new Hopper(new HopperIO() {});
+        if (FeatureFlags.kHopperEnabled) hopper = new Hopper(new HopperIO() {});
         intake = new Intake(new RollerIO() {}, new RollerIO() {}, new IntakeArmIO() {});
         feeder = new Feeder(new SpindexerIO() {}, new KickerIO() {});
         break;
@@ -302,12 +303,14 @@ public Robot() {
 
     // Wire the hopper/intake interlocks. Done here (after both subsystems exist) to avoid a
     // circular dependency between the two subsystems.
-    intake.setDeployInterlock(
-        hopper::isDeployed,
-        () -> hopper.getDeployCommand().withTimeout(IntakeConstants.kInterlockSettleSeconds));
-    hopper.setRetractInterlock(
-        intake::isStowed,
-        () -> intake.getStopCommand().withTimeout(IntakeConstants.kInterlockSettleSeconds));
+    if (FeatureFlags.kHopperEnabled) {
+      intake.setDeployInterlock(
+          hopper::isDeployed,
+          () -> hopper.getDeployCommand().withTimeout(IntakeConstants.kInterlockSettleSeconds));
+      hopper.setRetractInterlock(
+          intake::isStowed,
+          () -> intake.getStopCommand().withTimeout(IntakeConstants.kInterlockSettleSeconds));
+    }
 
     configureControlPanelBindings();
     configureAutoOptions();
@@ -340,15 +343,15 @@ public Robot() {
   /** This function is called periodically during all modes. */
   @Override
   public void robotPeriodic() {
-    long loopStart = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long loopStart = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     // Runs the Scheduler. This is responsible for polling buttons, adding
     // newly-scheduled commands, running already-scheduled commands, removing
     // finished or interrupted commands, and running subsystem periodic() methods.
     // This must be called from the robot's periodic block in order for anything in
     // the Command-based framework to work.
     CommandScheduler.getInstance().run();
-    long t1 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t1 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     logCANBus("CAN2", Constants.CANBusPorts.CAN2.bus);
     logCANBus("CANHD", Constants.CANBusPorts.CANHD.bus);
@@ -359,16 +362,16 @@ public void robotPeriodic() {
 
     Logger.recordOutput("USB/FreeSpaceMB", getUSBStorageFreeSpace() / 1024 / 1024);
     GameState.logValues();
-    long t2 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t2 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     // Publish kernel log events to NetworkTables (only runs on real robot)
     if (RobotBase.isReal()) {
       KernelLogMonitor.getInstance().publishToLogger();
     }
-    long t3 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t3 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     // Profiling output
-    if (Constants.PROFILING_ENABLED) {
+    if (FeatureFlags.PROFILING_ENABLED) {
       long schedulerMs = (t1 - loopStart) / 1_000_000;
       long gameStateMs = (t2 - t1) / 1_000_000;
       long kernelMonitorMs = (t3 - t2) / 1_000_000;
@@ -414,7 +417,7 @@ public void disabledPeriodic() {
   /** This function is called once when autonomous mode is enabled. */
   @Override
   public void autonomousInit() {
-    hopper.getRetractCommand().schedule();
+    if (hopper != null) hopper.getRetractCommand().schedule();
     drive.setDefaultCommand(Commands.runOnce(drive::stop, drive).withName("Stop"));
     autoSelector.scheduleAuto();
     leds.clear();
@@ -430,7 +433,8 @@ public void autonomousPeriodic() {
   /** This function is called once when teleop mode is enabled. */
   @Override
   public void teleopInit() {
-    if (!hopper.isDeployed() && !hopper.isStowed()) hopper.getRetractCommand().schedule();
+    if (hopper != null && !hopper.isDeployed() && !hopper.isStowed())
+      hopper.getRetractCommand().schedule();
     autoSelector.cancelAuto();
     ControllerSelector.getInstance().scan(true);
     leds.clear();
@@ -549,13 +553,14 @@ public boolean getFieldRelativeInput() {
     // Toggle hopper: deploy if stowed, stow if deployed (retracting intake first if needed).
     // runOnce has no subsystem requirements so it always executes; the scheduled command
     // requires hopper and will interrupt whatever is currently running on that subsystem.
-    zorroDriver
-        .DIn()
-        .onTrue(
-            Commands.runOnce(
-                () ->
-                    (hopper.isDeployed() ? hopper.getRetractCommand() : hopper.getDeployCommand())
-                        .schedule()));
+    if (FeatureFlags.kHopperEnabled)
+      zorroDriver
+          .DIn()
+          .onTrue(
+              Commands.runOnce(
+                  () ->
+                      (hopper.isDeployed() ? hopper.getRetractCommand() : hopper.getDeployCommand())
+                          .schedule()));
 
     // Desaturate turret and advance feeder
     zorroDriver.AIn().whileTrue(createDesaturateAndShootCommand(controller));
@@ -857,7 +862,7 @@ private void logScheduler() {
     logSubsystem("Vision", vision);
     logSubsystem("Launcher", launcher);
     logSubsystem("Feeder", feeder);
-    logSubsystem("Hopper", hopper);
+    if (hopper != null) logSubsystem("Hopper", hopper);
     logSubsystem("Intake", intake);
     logAlerts();
   }

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -47,6 +47,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.Constants;
+import frc.robot.Constants.FeatureFlags;
 import frc.robot.Constants.Mode;
 import frc.robot.util.LocalADStarAK;
 import java.util.concurrent.locks.Lock;
@@ -155,18 +156,18 @@ public Drive(
 
   @Override
   public void periodic() {
-    long startNanos = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long startNanos = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     odometryLock.lock(); // Prevents odometry updates while reading data
-    long t1 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t1 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     gyroIO.updateInputs(gyroInputs);
-    long t2 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t2 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     Logger.processInputs("Drive/Gyro", gyroInputs);
-    long t3 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t3 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     for (var module : modules) {
       module.periodic();
     }
-    long t4 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t4 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     odometryLock.unlock();
 
     // Stop moving when disabled
@@ -181,7 +182,7 @@ public void periodic() {
       Logger.recordOutput("SwerveStates/Setpoints", emptyModuleStates);
       Logger.recordOutput("SwerveStates/SetpointsOptimized", emptyModuleStates);
     }
-    long t5 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t5 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     // Update odometry
     double[] sampleTimestamps =
@@ -215,15 +216,15 @@ public void periodic() {
 
       chassisSpeeds = kinematics.toChassisSpeeds(getModuleStates());
     }
-    long t6 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t6 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     // Update gyro alert
     boolean gyroDisconnected = !gyroInputs.connected && Constants.currentMode != Mode.SIM;
     gyroDisconnectedAlert.set(gyroDisconnected);
     Logger.recordOutput("Faults/Drive/GyroDisconnected", gyroDisconnected);
 
     // Profiling output
-    if (Constants.PROFILING_ENABLED) {
+    if (FeatureFlags.PROFILING_ENABLED) {
       long totalMs = (t6 - startNanos) / 1_000_000;
       if (totalMs > 5) {
         System.out.println(

src/main/java/frc/robot/subsystems/drive/Module.java

@@ -21,7 +21,7 @@
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.Preferences;
-import frc.robot.Constants;
+import frc.robot.Constants.FeatureFlags;
 import org.littletonrobotics.junction.Logger;
 
 public class Module {
@@ -56,11 +56,11 @@ public Module(ModuleIO io, int index) {
   }
 
   public void periodic() {
-    long t0 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t0 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     io.updateInputs(inputs);
-    long t1 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t1 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     Logger.processInputs("Drive/Module" + Integer.toString(index), inputs);
-    long t2 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t2 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     // Calculate positions for odometry
     int sampleCount = inputs.odometryTimestamps.length; // All signals are sampled together
@@ -76,10 +76,10 @@ public void periodic() {
     turnDisconnectedAlert.set(!inputs.turnConnected);
     Logger.recordOutput("Faults/Module" + index + "/DriveDisconnected", !inputs.driveConnected);
     Logger.recordOutput("Faults/Module" + index + "/TurnDisconnected", !inputs.turnConnected);
-    long t3 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t3 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     // Profiling output
-    if (Constants.PROFILING_ENABLED) {
+    if (FeatureFlags.PROFILING_ENABLED) {
       long totalMs = (t3 - t0) / 1_000_000;
       if (totalMs > 2) {
         System.out.println(

src/main/java/frc/robot/subsystems/feeder/Feeder.java

@@ -29,24 +29,24 @@ public Feeder(SpindexerIO spindexerIO, KickerIO kickerIO) {
 
   @Override
   public void periodic() {
-    long t0 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t0 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     spindexerIO.updateInputs(spindexerInputs);
-    long t1 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t1 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     kickerIO.updateInputs(kickerInputs);
-    long t2 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t2 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     Logger.processInputs("Spindexer", spindexerInputs);
-    long t3 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t3 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     Logger.processInputs("Kicker", kickerInputs);
-    long t4 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t4 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     spindexerDisconnectedAlert.set(!spindexerInputs.connected);
     kickerDisconnectedAlert.set(!kickerInputs.connected);
     Logger.recordOutput("Faults/Feeder/SpindexerDisconnected", !spindexerInputs.connected);
     Logger.recordOutput("Faults/Feeder/KickerDisconnected", !kickerInputs.connected);
 
     // Profiling output
-    if (Constants.PROFILING_ENABLED) {
+    if (Constants.FeatureFlags.PROFILING_ENABLED) {
       long totalMs = (t4 - t0) / 1_000_000;
       if (totalMs > 2) {
         System.out.println(

src/main/java/frc/robot/subsystems/hopper/Hopper.java

@@ -24,14 +24,14 @@ public Hopper(HopperIO hopperIO) {
 
   @Override
   public void periodic() {
-    long t0 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t0 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     hopperIO.updateInputs(hopperInputs);
-    long t1 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t1 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     Logger.processInputs("Hopper", hopperInputs);
-    long t2 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t2 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     // Profiling output
-    if (Constants.PROFILING_ENABLED) {
+    if (Constants.FeatureFlags.PROFILING_ENABLED) {
       long totalMs = (t2 - t0) / 1_000_000;
       if (totalMs > 2) {
         System.out.println(

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -42,24 +42,24 @@ public Intake(RollerIO upperRollerIO, RollerIO lowerRollerIO, IntakeArmIO intake
 
   @Override
   public void periodic() {
-    long t0 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t0 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
     upperRollerIO.updateInputs(upperRollerInputs);
     lowerRollerIO.updateInputs(lowerRollerInputs);
     intakeArmIO.updateInputs(intakeArmInputs);
-    long t1 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t1 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     Logger.processInputs("UpperRoller", upperRollerInputs);
     Logger.processInputs("LowerRoller", lowerRollerInputs);
     Logger.processInputs("IntakeArm", intakeArmInputs);
-    long t2 = Constants.PROFILING_ENABLED ? System.nanoTime() : 0;
+    long t2 = Constants.FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
 
     upperRollerDisconnectedAlert.set(!upperRollerInputs.connected);
     lowerRollerDisconnectedAlert.set(!lowerRollerInputs.connected);
     Logger.recordOutput("Faults/Intake/UpperRollerDisconnected", !upperRollerInputs.connected);
     Logger.recordOutput("Faults/Intake/LowerRollerDisconnected", !lowerRollerInputs.connected);
 
     // Profiling output
-    if (Constants.PROFILING_ENABLED) {
+    if (Constants.FeatureFlags.PROFILING_ENABLED) {
       long totalMs = (t2 - t0) / 1_000_000;
       if (totalMs > 2) {
         System.out.println(