kjkj

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index c013cba8c7386c01d7ef3ae06f74912913b3706f..c707453cc4ca610e04f1b5fa8f19dee0eab5924e 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -85,7 +85,9 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             }));
         }
 
-        driver.get(PS5Button.SQUARE).onTrue(
+        // Auto shoot
+        if(turret != null && hood != null){
+            driver.get(PS5Button.SQUARE).onTrue(
             new InstantCommand(()->{
                         if (autoShoot != null && autoShoot.isScheduled()){
                             autoShoot.cancel();
@@ -95,17 +97,8 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                         }
                     })
         );
+        }
 
-        driver.get(PS5Button.RIGHT_TRIGGER).onTrue(
-            new InstantCommand(() -> {
-                spindexer.accelerateSpindexer();
-            })
-        );
-        driver.get(PS5Button.LEFT_TRIGGER).onTrue(
-            new InstantCommand(() -> {
-                spindexer.deccelerateSpindexer();
-            })
-        );
     }
 
     @Override

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 7af137e8775b70fb9a822eca06e4a0cfec0f39e5..0ba8e4d756be2e06d924bcb6f56e370117b1b90b 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -31,18 +31,6 @@ public class Spindexer extends SubsystemBase implements SpindexerIO{
         power = 1.0;
     }
 
-    public void accelerateSpindexer(){
-        if (power <= 0.998) {
-            power += 0.002; // not sure
-        }
-    }
-
-    public void deccelerateSpindexer(){
-        if (power >= 0.002) {
-            power -= 0.002; // not sure
-        }
-    }
-
     public void stopSpindexer(){
         power = 0.0;
     }