dhrh

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4dd294c931e89a3e06274d07e482e2211f436ff8..59d5c612b8db100595c4d061e37ba054ad388af5 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -141,8 +141,8 @@ public class RobotContainer {
         PathGroupLoader.loadPathGroups();
         // Load the auto command
         try {
-          String leftSideAuto = "Left(No SOTM) - Under Trench";
-          String rightSideAuto = "Right(2) - Under Trench";
+          //String leftSideAuto = "Left(No SOTM) - Under Trench";
+          //String rightSideAuto = "Right(2) - Under Trench";
           String testing = "Straight Test";
           PathPlannerAuto.getPathGroupFromAutoFile(testing);
           auto = new PathPlannerAuto(testing);
@@ -211,7 +211,6 @@ public class RobotContainer {
       NamedCommands.registerCommand("Start Intake Seizure", new InstantCommand(()-> intakeMovement.schedule()));
       NamedCommands.registerCommand("Stop Intake Seizure", new InstantCommand(()-> intakeMovement.cancel()));
 
-
     }
 
     if (turret != null && drive != null && hood != null && shooter != null && spindexer != null){

diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
index b4dba64fb4daaa0b7248fc98ed512b6a916f1edb..3b5e984ecdb875a688d6f082b013b0eef8f8dc9a 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
@@ -6,18 +6,21 @@ import frc.robot.subsystems.turret.Turret;
 
 public class RunSpindexer extends Command {
     private Spindexer spindexer;
-    public RunSpindexer(Spindexer spindexer){
+    private Turret turret;
+    private boolean spindexerOn;
+    public RunSpindexer(Spindexer spindexer, Turret turret){
         this.spindexer = spindexer;
-        
+        this.turret = turret;
+        this.spindexerOn = false;
         addRequirements(spindexer);
     }
 
     @Override
     public void execute() {
-        if (turret.atSetpoint()){
+        if (turret.atSetpoint()) {
             spindexer.maxSpindexer();
-         } else{
-             spindexer.stopSpindexer();
+         } else {
+            spindexer.stopSpindexer();
         }
     }
 

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 0cdece505ed78fe6686a1eb2471fe054751f86ad..33628f1af05837516f2af0883bf1af21a7818406 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -185,14 +185,6 @@ public class FieldConstants {
     }
   }
 
-  public static FieldZone getWorkingZone(Translation2d drivepose) {
-    double x = drivepose.getX();
-    double y = drivepose.getY();
-    Alliance alliance = Robot.getAlliance();
-
-
-  }
-
   /**
    * 
    * @return Whether Y coordinate is in the upper half (left side on blue alliance)

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index ea5944e2ce3f1b502b65c86cbe5cca50abceb382..fd2e7023521595fba3b56ea6037496ed9c9dd453 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -149,10 +149,10 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             controller.get(PS5Button.LEFT_TRIGGER).onTrue(new InstantCommand(() -> {
                 if (spindexerBoolean) {
                     spindexer.maxSpindexer();
-                    intakeBoolean = false;
+                    spindexerBoolean = false;
                 } else {
                     spindexer.stopSpindexer();
-                    intakeBoolean = true;
+                    spindexerBoolean = true;
                 }
             }));
         }