From 078adda2bce8f144fe6b35decb131b9d943fdadb Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Tue, 25 Nov 2025 20:26:15 +0000
Subject: [PATCH 1/2] Initial plan


From 01e8bb324d94ce1e43a956d628092455d0a8f524 Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Tue, 25 Nov 2025 20:30:32 +0000
Subject: [PATCH 2/2] Address review comments: fix debug prints, initialization
 logic, naming typo, and unused field

Co-authored-by: garrett928 <22306616+garrett928@users.noreply.github.com>
---
 .../java/frc/lib/io/motor/MotorIORevSim.java  |  4 ++--
 .../frc/lib/util/LoggedTunableNumber.java     | 19 ++++---------------
 .../robot/subsystems/revRotary/RevRotary.java |  3 ---
 3 files changed, 6 insertions(+), 20 deletions(-)

diff --git a/src/main/java/frc/lib/io/motor/MotorIORevSim.java b/src/main/java/frc/lib/io/motor/MotorIORevSim.java
index 42552389..97a0934f 100644
--- a/src/main/java/frc/lib/io/motor/MotorIORevSim.java
+++ b/src/main/java/frc/lib/io/motor/MotorIORevSim.java
@@ -45,7 +45,7 @@
  */
 public class MotorIORevSim extends MotorIORev implements MotorIOSim {
 
-    public record RevFollowerFollower(int id, boolean opposesLeader) {
+    public record RevFollower(int id, boolean opposesLeader) {
     }
 
     public SparkBase motor;
@@ -70,7 +70,7 @@ public MotorIORevSim(
         boolean isFlex,
         DCMotor gearBox,
         SparkBaseConfig config,
-        RevFollowerFollower... followerData)
+        RevFollower... followerData)
     {
         super(name, id, isFlex, config);
 
diff --git a/src/main/java/frc/lib/util/LoggedTunableNumber.java b/src/main/java/frc/lib/util/LoggedTunableNumber.java
index 0db3a4e9..50f4526c 100644
--- a/src/main/java/frc/lib/util/LoggedTunableNumber.java
+++ b/src/main/java/frc/lib/util/LoggedTunableNumber.java
@@ -69,6 +69,9 @@ public void initDefault(double defaultValue)
         if (!hasDefault) {
             hasDefault = true;
             this.defaultValue = defaultValue;
+            if (Constants.tuningMode) {
+                dashboardNumber = new LoggedNetworkNumber(key, defaultValue);
+            }
         }
     }
 
@@ -81,22 +84,8 @@ public double get()
     {
         if (!hasDefault) {
             return 0.0;
-        } else if (Constants.tuningMode) {
-            if (dashboardNumber == null) {
-                dashboardNumber = new LoggedNetworkNumber(key, defaultValue);
-            }
-            double value = dashboardNumber.get();
-            if (key.contains("STOW")) {
-                System.out.println("TunableNumber " + key + " returning dashboard value: " + value);
-            }
-            return value;
         } else {
-            if (key.contains("STOW")) {
-                System.out
-                    .println("TunableNumber " + key + " returning default value: " + defaultValue
-                        + " (tuningMode=" + Constants.tuningMode + ")");
-            }
-            return defaultValue;
+            return Constants.tuningMode ? dashboardNumber.get() : defaultValue;
         }
     }
 
diff --git a/src/main/java/frc/robot/subsystems/revRotary/RevRotary.java b/src/main/java/frc/robot/subsystems/revRotary/RevRotary.java
index 45eae9f4..8e198a9a 100644
--- a/src/main/java/frc/robot/subsystems/revRotary/RevRotary.java
+++ b/src/main/java/frc/robot/subsystems/revRotary/RevRotary.java
@@ -14,14 +14,12 @@
 import frc.lib.mechanisms.rotary.RotaryMechanism;
 import frc.lib.util.LoggedTunableNumber;
 import frc.lib.util.LoggerHelper;
-import frc.robot.RobotState;
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 
 public class RevRotary extends SubsystemBase {
 
     private final RotaryMechanism io;
-    private final RobotState robotstate;
 
     private static final LoggedTunableNumber STOW_SETPOINT =
         new LoggedTunableNumber("REV STOW", 0.0);
@@ -46,7 +44,6 @@ public Angle getSetpoint()
     public RevRotary(RotaryMechanism io)
     {
         this.io = io;
-        this.robotstate = RobotState.getInstance();
 
         setSetpoint(RevRotaryConstants.DEFAULT_SETPOINT).ignoringDisable(true).schedule();
     }