KoushaApprovedNoShootingUnderLadder

diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
index d730b6938632a7b90473bce7d124432c996f0f91..7cc1090c9a2422c102a33e06c6705bfe5294542a 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
@@ -27,6 +27,7 @@ public class RunSpindexer extends Command {
     private Timer reverseTimer = new Timer();
 
     private double storedIntakeSpeed = 0.0;
+
     
     public RunSpindexer(Spindexer spindexer, Turret turret, Hood hood, Intake intake) {
         this.spindexer = spindexer;
@@ -56,7 +57,7 @@ public class RunSpindexer extends Command {
         }
         wasHoodForcedDown = hoodForcedDown;
         
-        if (!turret.atSetpoint() || hoodForcedDown) {
+        if (!turret.atSetpoint() || hoodForcedDown || spindexer.noIndexing) {
             spindexer.stopSpindexer();
             reversing = false;
             return; // this is so the balls don't fly out when unaligned

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 1ffd4763c1f3b202b2753480509cc240d0fd3ce7..ad6791f5bb3e65ecc4aea968fd6cf0dcc906aaa9 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -209,7 +209,11 @@ public class Superstructure extends Command {
         turret.setFieldRelativeTarget(new Rotation2d(0.0), 0.0);
         hood.setFieldRelativeTarget(Rotation2d.fromDegrees(HoodConstants.MAX_ANGLE), 0.0);
         shooter.setShooter(0.0);
-        //spindexer.stopSpindexer();
+        spindexer.noIndexing = true;
+    }
+
+    public void underLadder(){
+        spindexer.noIndexing = true;
     }
 
     // shoot higher
@@ -255,8 +259,11 @@ public class Superstructure extends Command {
         updateSetpoints(drivepose);
 
         if (phaseManager.isIdle()) {
-            stowEverything();
+            underLadder();
         } else {
+            if (spindexer.noIndexing) {
+                spindexer.noIndexing = false;
+            }
             turret.setFieldRelativeTarget(Rotation2d.fromDegrees(turretSetpoint), turretVelocity - drivetrain.getAngularRate(2));
 
             boolean shuttling = !target.equals(FieldConstants.getHubTranslation().toTranslation2d()); // if we're aiming at the hub, we're not shuttling

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 4cba8edf1c58b69a2284da2aa40a02241ac0ee1b..642e5a3c8d8e723d3275c36dbd419d78301be982 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -22,6 +22,9 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
     private boolean reversing = false;
     private SpindexerIOInputsAutoLogged inputs = new SpindexerIOInputsAutoLogged();
 
+    public boolean noIndexing = false;
+
+
     public Spindexer() {
         updateInputs();