Harvester Subsystem

The harvester arm swings the intake rollers between two named positions using a profiled motor. It is completely independent of the intake rollers themselves, which live in the intake/ subsystem.

Positions

Name	Description
Stowed	Arm upright inside the robot perimeter (match-start)
Deployed	Arm lowered outside the frame to collect Fuel from the
	floor
Sweep	Arm raised (~100°) to push Fuel from the back of the
	hopper toward the shooting array

Key classes

File	Purpose
`HarvesterSubsystem.java`	Set-and-seek subsystem with deploy/stow API
`config/HarvesterSubsystemConfig.java`	Positions, PID, profile, and tolerance
`shared/config/MotorConfig.java`	CAN ID, gear ratio, soft limits (inherited)
`devices/HarvesterMotor.java`	SparkMax wrapper with brake mode and gearing
`devices/HarvesterSimMotor.java`	Simulation motor for profile testing
`commands/MoveHarvesterToPositionCommand.java`	Profiled move command (supplier or fixed)
`commands/HoldHarvesterDeployedPositionCommand.java`	Default command that holds deployed position
`commands/HarvesterSubsystemCommandFactory.java`	Factory for deploy, stow, hold, and move cmds

Configuration

All angles are stored in degrees in subsystems.json (and sim/test variants). The subsystem config provides tunable getters so positions and profile limits can be adjusted on the fly from Elastic without redeploying.

Relationship to the intake

The harvester and intake are separate subsystems sharing no direct references. In RobotContainer, trigger bindings compose them: pressing a button deploys the harvester arm and spins the intake rollers simultaneously through parallel command groups.

Deployed position hold

When the arm is deployed for intake, incoming Fuel can push it away from the target position. The HoldHarvesterDeployedPositionCommand (set as the default command) detects this drift and re-engages the motor to drive the arm back to the deployed angle using a smooth profiled motion. Once the arm settles, the motor stops to avoid burning the motor with continuous current. When the arm is not in deployed mode (stowed or transitioning), the command idles passively.