From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 21 Feb 2026 20:16:16 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=2bf7c429235b02f892de124d051d0580de24028e;p=FRC2026.git

a
---

diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java
index b44009e..d8b7087 100644
--- a/src/main/java/frc/robot/subsystems/hood/Hood.java
+++ b/src/main/java/frc/robot/subsystems/hood/Hood.java
@@ -134,7 +134,12 @@ public class Hood extends SubsystemBase implements HoodIO{
 	public void calibrate(){
 		calibrating = true;
 		setCurrentLimits(HoodConstants.CALIBRATING_CURRENT_LIMIT);
-		calibrateDebouncer.calculate(calibrating)
+		boolean atZero = Math.abs(motor.getStatorCurrent().getValueAsDouble()) >= HoodConstants.CALIBRATION_CURRENT_THRESHOLD;
+		boolean calibrated = calibrateDebouncer.calculate(atZero);
+		if (calibrated){
+			calibrating = false;
+			motor.setPosition(Units.degreesToRotations(HoodConstants.MAX_ANGLE) * HoodConstants.HOOD_GEAR_RATIO);
+		}
 	}
 
 	/**
diff --git a/src/main/java/frc/robot/subsystems/hood/HoodConstants.java b/src/main/java/frc/robot/subsystems/hood/HoodConstants.java
index 3c809cb..aa6e5d6 100644
--- a/src/main/java/frc/robot/subsystems/hood/HoodConstants.java
+++ b/src/main/java/frc/robot/subsystems/hood/HoodConstants.java
@@ -19,4 +19,5 @@ public class HoodConstants {
 
     public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
     public static final double CALIBRATING_CURRENT_LIMIT = 30.0; //A
+    public static final double CALIBRATION_CURRENT_THRESHOLD = 20.0; // A
 }