Merge branch 'main' into maxwells_temp_branch_26_03_06

diff --cc src/main/java/frc/robot/commands/gpm/Superstructure.java
index 436c019ad3a4f99b6b878472816b7229430f2990,255e1b37f160a078dee23652f6ac62ba210e7da9..91506fd65ce46da2d69c5a7d080ea74bd01260e7
--- 1/src/main/java/frc/robot/commands/gpm/Superstructure.java
--- 2/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@@ -122,9 -120,9 +122,8 @@@ public class Superstructure extends Com
              goalState = ShooterPhysics.getShotParams(
                                        Translation2d.kZero,
                                target3d.minus(lookahead3d),
-                 target == FieldConstants.getHubTranslation().toTranslation2d() ?
-                               2.0 : 2.0);
+                                                   2.0);
  
 -            double TOFAdjustment = 0.85;
              timeOfFlight = goalState.timeOfFlight() * TOFAdjustment;
              double offsetX = turretVelocityX * timeOfFlight;
              double offsetY = turretVelocityY * timeOfFlight;

diff --cc src/main/java/frc/robot/constants/FieldConstants.java
Simple merge

diff --cc src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index fd2e7023521595fba3b56ea6037496ed9c9dd453,be44154037401731b09b2d15f95e97e134a3b9af..1cd5066013978464cf35c870f24abe1edd1b939c
--- 1/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
--- 2/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@@ -145,16 -136,8 +143,8 @@@ public class PS5ControllerDriverConfig 
  
          // Spindexer
          if (spindexer != null) {
-             // Toggle spindexer
-             controller.get(PS5Button.LEFT_TRIGGER).onTrue(new InstantCommand(() -> {
-                 if (spindexerBoolean) {
-                     spindexer.maxSpindexer();
-                     spindexerBoolean = false;
-                 } else {
-                     spindexer.stopSpindexer();
-                     spindexerBoolean = true;
-                 }
-             }));
+             // Will only run if we are not calling default shoot command
 -            controller.get(PS5Button.LEFT_TRIGGER).whileTrue(new RunSpindexer(spindexer));
++            controller.get(PS5Button.LEFT_TRIGGER).whileTrue(new RunSpindexer(spindexer, turret));
          }
  
          // Auto shoot