builds

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index de8b6e96f2c363497a79471342288a2fc0e6aaec..1c47ac0991e79411944a89f3f8e5eaf98bacea0e 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -221,7 +221,7 @@ public class Superstructure extends Command {
         } else {
             turret.setFieldRelativeTarget(Rotation2d.fromDegrees(turretSetpoint), turretVelocity - drivetrain.getAngularRate(2));
 
-            boolean shuttling = target.getZ() != FieldConstants.getHubTranslation().getZ(); // if we're aiming upward we are aiming at hub, thus not shuttling
+            boolean shuttling = target != FieldConstants.getHubTranslation().toTranslation2d(); // if we're aiming at the hub, we're not shuttling
 
             // shuttling will move the hood so its angles very close to max (less arch)
             if (shuttling) {

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 4af68f96ef5af0a266f711703931cb211c8544c5..79155d9bc9359f79e323275df6705f26fb24de08 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -18,6 +18,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
     public int ballCount = 0;
     private boolean wasSpindexerSlow = false;
     private SpindexerState state = SpindexerState.STOPPED;
+    private boolean reversing = false;
     private SpindexerIOInputsAutoLogged inputs = new SpindexerIOInputsAutoLogged();
     public Spindexer() {
         updateInputs();
@@ -49,12 +50,16 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
 
         if (state == SpindexerState.MAX) {
             motor.set(SpindexerConstants.spindexerMaxPower);
+            reversing = false;
         } else if (state == SpindexerState.REVERSE) {
             motor.set(SpindexerConstants.spindexerReversePower);
+            reversing = true;
         } else if (state == SpindexerState.STOPPED) {
             motor.set(0.0);
+            reversing = false;
         } else {
             motor.set(power);
+            reversing = false;
         }
 
         // scale threshold based on power