some fixes

diff --git a/src/main/java/frc/robot/controls/BaseDriverConfig.java b/src/main/java/frc/robot/controls/BaseDriverConfig.java
index c0a3fc17c779c197d6eb32b5647211ab82069c4e..f04417d6f1a40ac18622b2427ab9caa7989d9d83 100644 (file)
--- a/src/main/java/frc/robot/controls/BaseDriverConfig.java
+++ b/src/main/java/frc/robot/controls/BaseDriverConfig.java
@@ -13,7 +13,7 @@ import frc.robot.util.MathUtils;
  */
 public abstract class BaseDriverConfig {
 
-    public final Drivetrain drive;
+    protected final Drivetrain drive;
 
     private double previousHeading = 0;
 

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index c42f5969366a63a7ee8cb163ee6c9bd165aaf612..9b578202b6efd1d84c26a6ad203d06f72f206dd8 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -151,9 +151,8 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             }));
         }
 
-        // Hood
+        // shoot focus mode: reduces drive current
         if (spindexer != null) {
-            // Set the hood down -- for safety measures under trench
             controller.get(PS5Button.RB).onTrue(new InstantCommand(() -> shootFocus(true)))
             .onFalse(new InstantCommand(()->  shootFocus(false)));
         }
@@ -163,12 +162,13 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
         if (turnOn) {
             System.out.println("Shooting is now Focused");
             spindexer.setNewCurrentLimit(SpindexerConstants.currentLimit);
-            drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, DriveConstants.DRIVE_PEAK_CURRENT_LIMIT * 0.25
-            );
+            drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, 
+                    DriveConstants.DRIVE_PEAK_CURRENT_LIMIT * 0.25);
         } else {
             System.out.println("Shooting back to normal (From focus)");
             spindexer.setNewCurrentLimit(SpindexerConstants.currentLimit);
-            drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, DriveConstants.DRIVE_PEAK_CURRENT_LIMIT);
+            drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, 
+                    DriveConstants.DRIVE_PEAK_CURRENT_LIMIT);
         }
     }
 

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java b/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java
index 53c36d5f620520650b3ab67f4756d418358fd8d2..0ce1d57e295caaa6345ceeb72e1ea0b1dbf7c6aa 100644 (file)
--- a/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java
@@ -33,7 +33,7 @@ public interface GyroIO {
   public default void updateInputs(GyroIOInputs inputs) {}
 
   /** returns the yaw status signal for time-synced odometry. */
-  public default StatusSignal<?> getYawSignal() { return null; }
+  public StatusSignal<?> getYawSignal();
 
   /**
    * set the yaw angle of the gyro.