I think these changes for hood are already used just unpushed from main comp computer...

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 977e7bc33db1010cc828e1e44fa777dc65734687..0b1dfce5143bc719b4c66a89ad1228d4f6b8eeaa 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -228,7 +228,7 @@ public class RobotContainer {
     // }
 
     if (turret != null && drive != null && hood != null && shooter != null && spindexer != null) {
-      Command runSpindexer = new RunSpindexer(spindexer, turret);
+      Command runSpindexer = new RunSpindexer(spindexer, turret, hood);
       NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer));
       NamedCommands.registerCommand("Start Spindexer",
           new InstantCommand(() -> CommandScheduler.getInstance().schedule(runSpindexer)));

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index abc8eb7a22a822f73ea9bd70e34e6a68f7d38aff..76c981b2eb12029cc3fdde44fa8f11eb5ea6bf24 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -145,7 +145,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
 
             // Toggle spindexer
             controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue(
-                new RunSpindexer(spindexer, turret)
+                new RunSpindexer(spindexer, turret, hood)
             );
         }
 

diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java
index a50b239af3384340bdeb48232f8777cdd3cd6f96..a0c2842c8e785f00387a057fd300a8fab59f6eeb 100644 (file)
--- a/src/main/java/frc/robot/subsystems/hood/Hood.java
+++ b/src/main/java/frc/robot/subsystems/hood/Hood.java
@@ -64,7 +64,9 @@ public class Hood extends SubsystemBase implements HoodIO {
                SmartDashboard.putData("max", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MAX_ANGLE)), 0)));
                SmartDashboard.putData("medium", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians((HoodConstants.MAX_ANGLE + HoodConstants.MIN_ANGLE) / 2)), 0)));
                SmartDashboard.putData("min", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MIN_ANGLE)), 0)));
-    }
+               SmartDashboard.putData("force hood down", new InstantCommand(() -> forceHoodDown(true)));
+               SmartDashboard.putData("unforce hood", new InstantCommand(() -> forceHoodDown(false)));
+       }
 
        /**
         * @return Position of the MOTOR in radians