From: iefomit <timofei.stem@gmail.com>
Date: Fri, 17 Apr 2026 22:24:59 +0000 (-0700)
Subject: Merge branch 'main' into some-fixes
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=064f6e1db38712b8ec4e3cee4f01ba740aa4fd0a;p=FRC2026.git

Merge branch 'main' into some-fixes
---

064f6e1db38712b8ec4e3cee4f01ba740aa4fd0a
diff --cc src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 625efb8,2901af0..7d3e06e
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@@ -66,15 -66,19 +66,15 @@@ public class Spindexer extends Subsyste
          }
  
          if (state == SpindexerState.MAX) {
-             motor.setControl(new DutyCycleOut(SpindexerConstants.spindexerMaxPower).withEnableFOC(true));
+             motor.setControl(new VoltageOut(12 * SpindexerConstants.spindexerMaxPower).withEnableFOC(true));
 -            reversing = false;
          } else if (state == SpindexerState.REVERSE) {
-             motor.setControl(new DutyCycleOut(SpindexerConstants.spindexerReversePower).withEnableFOC(true));
+             motor.setControl(new VoltageOut(12 * SpindexerConstants.spindexerReversePower).withEnableFOC(true));
 -            reversing = true;
          } else if (state == SpindexerState.STOPPED) {
-             motor.setControl(new DutyCycleOut(0.0).withEnableFOC(true));
+             motor.setControl(new VoltageOut(12 * 0.0).withEnableFOC(true));
 -            reversing = false;
          } else if (state == SpindexerState.RESET && resetPos != null) {
-             motor.setControl(new DutyCycleOut(resetPID.calculate((motor.getPosition().getValueAsDouble() / gearRatio) % 1.0, resetPos)).withEnableFOC(true));
+             motor.setControl(new VoltageOut(12 * resetPID.calculate((motor.getPosition().getValueAsDouble() / gearRatio) % 1.0, resetPos)).withEnableFOC(true));
          } else {
-             motor.setControl(new DutyCycleOut(power).withEnableFOC(true));
+             motor.setControl(new VoltageOut(12 * power).withEnableFOC(true));
 -            reversing = false;
          }