AntiJamming and spindexer works

diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
index bcdbf65ff7493a6024b81c836e2ad06a4fb566d5..7d74a1fc85fb0a04e210341fcafd16ae8b1de203 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
@@ -18,9 +18,14 @@ public class RunSpindexer extends Command {
     public RunSpindexer(Spindexer spindexer, Turret turret) {
         this.spindexer = spindexer;
         this.turret = turret;
-        addRequirements(spindexer, turret);
+        addRequirements(spindexer);
     }
 
+        // public RunSpindexer(Spindexer spindexer) {
+        // this.spindexer = spindexer;
+        // addRequirements(spindexer);
+    // }
+
     @Override
     public void execute() {
         if (!turret.atSetpoint()) {
@@ -31,16 +36,15 @@ public class RunSpindexer extends Command {
         boolean jammed = spindexer.getStatorCurrent() > SpindexerConstants.JAM_CURRENT_THRESHOLD;
         if (jam_debouncer.calculate(jammed)) {
             reversing = true;
+            reversing_debouncer.calculate(reversing);
             System.out.println("Reversing the spindexer for Anti-Jam");
         }
         if (!reversing) {
             spindexer.maxSpindexer();
         } else {
             spindexer.reverseSpindexer();
-            if (reversing_debouncer.calculate(reversing)) {
+            if (!reversing_debouncer.calculate(false)) {
                 reversing = false;
-                reversing_debouncer.calculate(false);
-                jam_debouncer.calculate(false);
             }
         }
     }

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 5c6626612147fe1c79bc5e61eeebd0507b77ada7..1364d12aaafd266699234decfc5abd062b2099c6 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -143,6 +143,9 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue(
                 new RunSpindexer(spindexer, turret)
             );
+            // controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue(
+            //     new RunSpindexer(spindexer)
+            // );
         }
 
         // Auto shoot

diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
index 6a61161ecbc87aa489ee96882801579f1b0d86af..9b75e09d1e9433f9c4ebe1d1307b2026d9b8e02b 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
@@ -9,5 +9,5 @@ public class SpindexerConstants {
     public static final double CURRENT_TIME_LIMIT = 1.0; //s
     public static final double JAM_CURRENT_THRESHOLD = 9.0; // A
     public static final double JAM_DEBOUNCE_TIME = 0.3; // seconds
-    public static final double REVERSE_DEBOUNCE_TIME = 0.75; // seconds
+    public static final double REVERSE_DEBOUNCE_TIME = 0.5; // seconds
 }