From: moo <moogoesmeow123@gmail.com>
Date: Fri, 17 Apr 2026 21:56:15 +0000 (-0700)
Subject: better stuff
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=2d4e241db703eb3da28d1b526016a86efcbb1e2e;p=FRC2026.git

better stuff
---

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index e9cb913..f195e2c 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -2,6 +2,7 @@ package frc.robot.subsystems.spindexer;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import org.littletonrobotics.junction.Logger;
@@ -66,18 +67,18 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         }
 
         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;
         }