Merge from main

diff --cc src/main/java/frc/robot/commands/gpm/RunSpindexer.java
Simple merge

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

diff --cc src/main/java/frc/robot/constants/IntakeConstants.java
index 2b91f84fdd2f8dccdeae7d590f6a22b9ae74f0d4,87ac3d7952cfd0c81a2d36d3981df1c1d426d498..05152a6aed2209c1f2810246314951f39474280a
--- 1/src/main/java/frc/robot/constants/IntakeConstants.java
--- 2/src/main/java/frc/robot/constants/IntakeConstants.java
+++ b/src/main/java/frc/robot/constants/IntakeConstants.java
@@@ -15,9 -15,6 +15,9 @@@ public class IntakeConstants 
      public static final double CALIBRATING_CURRENT_LIMITS = 10.0;
      public static final double CALIBRATING_CURRENT_THRESHOLD = 9.0;
  
-     /**Current */
++    /** Current limit for normal operation */
 +    public static final double NORMAL_CURRENT_LIMIT = 100.0;
 +
      public static final double ROLLER_MOI_KG_M_SQ = 0.5 * 0.020 * 0.020; // 0.5kg roller, 20mm radius for now
      public static final double ROLLER_GEARING = 2.0;
      public static final double CARRIAGE_MASS_KG = 3.0;

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

diff --cc src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
Simple merge

diff --cc src/main/java/frc/robot/subsystems/turret/Turret.java
index 315b4ada57e041b279f429c72d19e9d1e497b1da,21a48d58e7daca8e073883a3ab0f9e00bfd4e7fe..7217229cd68a9d670ff28d7e3ecdbc42c77d55b6
--- 1/src/main/java/frc/robot/subsystems/turret/Turret.java
--- 2/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@@ -201,10 -201,10 +201,10 @@@ public class Turret extends SubsystemBa
                motorGoalRotations = MathUtil.clamp(motorGoalRotations, Units.degreesToRotations(TurretConstants.MIN_ANGLE) * TurretConstants.GEAR_RATIO, Units.degreesToRotations(TurretConstants.MAX_ANGLE) * TurretConstants.GEAR_RATIO);
                        
                // Multiply goal velocity by kV
 -              double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV;
 +              double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV * TurretConstants.GEAR_RATIO;
  
                if(calibrating){
-                       // motor.set(0.05);
+                       motor.set(0.05);
                        boolean calibrated = Math.abs(motor.getStatorCurrent().getValueAsDouble()) >= TurretConstants.CALIBRATION_CURRENT_THRESHOLD;
                        if(calibrationDebouncer.calculate(calibrated)){
                                stopCalibrating();

diff --cc src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 7a8b9af799258ce314664982a8e5b4e73a03bdfe,260c3abc38f250feac9a44bb8ce415fe6cefa0be..0e1adf81ca4adf566acf26e2f0b7211e7372a43f
--- 1/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
--- 2/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@@ -24,9 -24,9 +24,9 @@@ public class TurretConstants 
  
        public static final double EXTRAPOLATION_TIME_CONSTANT = 0.06;
  
 -      public static final double FEEDFORWARD_KV = 0.185;
 +      public static final double FEEDFORWARD_KV = 0.06;
  
-     public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
+     public static final double NORMAL_CURRENT_LIMIT = 25.0; // A
      public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A
      public static final double CALIBRATION_CURRENT_THRESHOLD = 9.0; // A
  

diff --cc src/main/java/frc/robot/util/TrenchAssist/TrenchAssist.java
index 4d2a3e3dc6985dbd706d1bc9e7d9cb9753f677b2,259e6a3a75509cfb87d92b7997970969a5618eb7..6c913e54ee277d73524d3ee512cb81c80b478855
--- 1/src/main/java/frc/robot/util/TrenchAssist/TrenchAssist.java
--- 2/src/main/java/frc/robot/util/TrenchAssist/TrenchAssist.java
+++ b/src/main/java/frc/robot/util/TrenchAssist/TrenchAssist.java
@@@ -1,9 -1,9 +1,6 @@@
  package frc.robot.util.TrenchAssist;
  
--import org.littletonrobotics.junction.Logger;
--
  import edu.wpi.first.math.controller.PIDController;
--import edu.wpi.first.math.geometry.Pose2d;
  import edu.wpi.first.math.geometry.Rotation2d;
  import edu.wpi.first.math.geometry.Translation2d;
  import edu.wpi.first.math.kinematics.ChassisSpeeds;