Skill v1.0.0

version: "1.0.0" name: biobuzz-ftc-auto-shooting-state-machine description: "Porting/adapting shooting sequences into BozoAuto.java (flywheel spin-up, margin gate, transfer/intake feed timing); not teleop aiming."

Context

This repo's autonomous OpModes extend TeamCode/.../auto/BozoAuto.java, a Pedro Pathing state-machine OpMode. The robot here is simpler than the upstream St-Marks-Robotics-FTC/Decode reference repo: only Robot.flywheel (subsys/Flywheel.java), Robot.intake (subsys/Intake.java), Robot.transfer (subsys/Transfer.java) exist — no turret, no vision-based artifact pattern, no LaunchSetpoints. Do not copy turret/vision/pattern logic from the reference repo; it doesn't apply here.

Reference source

St-Marks-Robotics-FTC/Decode repo, TeamCode/.../auto/BozoAuto.java has a much more elaborate FSM (START, TRAVEL_TO_LAUNCH, START_LAUNCH_1/2, LAUNCH, TRAVEL_TO_BALLS, RELOAD, GO_TO_TURN, TURN, GO_TO_CLEAR, CLEAR, GO_TO_END, END) built around a Vision-detected ball pattern and turret. The reusable idea to steal is the spin-up/margin-gate/feed-timer sequencing, not the literal states.

Pattern that maps onto this simpler robot

1. Set robot.flywheel.setRPM(Tunables.shootRPM) as soon as you start driving toward the shoot pose — spin up during travel, not after arriving.
2. Add Flywheel.isWithinMargin(): targetRPM > 0 && Math.abs(getRPM() - targetRPM) <= Tunables.flywheelRPMMargin. Guard against targetRPM == 0 so an idle flywheel never reports "within margin".
3. Once !follower.isBusy() at the shoot pose, wait in a dedicated SPIN_UP state until isWithinMargin() — don't feed early.
4. On margin achieved: robot.transfer.open() + robot.intake.forward(), transition to FEED, and gate on stateTimer.get(TimeUnit.MILLISECONDS) >= Tunables.feedDurationMillis (there's no ball-count sensor in this hardware, so timing is the only gate available — don't invent a sensor that doesn't exist).
5. After feed timeout: robot.transfer.close(), robot.intake.off(), robot.flywheel.setRPM(0), increment a shotsCompleted counter, then branch to either the refuel leg or the end pose based on a TOTAL_SHOTS constant.
6. Refuel leg: drive to refuel pose, run intake forward for Tunables.refuelDurationMillis, then drive back and re-spin the flywheel on the way.
7. Robot has no aggregate update()/launch() convenience methods — call robot.flywheel.update() explicitly every loop() (it wasn't being called before this change, which silently meant the flywheel PIDF never applied power).

Tunables added

Tunables.java: shootRPM, flywheelRPMMargin, feedDurationMillis, refuelDurationMillis (all public static, no @Configurable per-field annotation needed — the class itself is @Configurable).

Verification

No physical hardware available in this environment — verification is ./gradlew :TeamCode:compileDebugJavaWithJavac -q only. That confirms API/type correctness, not on-robot timing or RPM tuning; flag that gap explicitly rather than claiming a smoke test that didn't happen.