From: iefomit <timofei.stem@gmail.com>
Date: Sat, 18 Apr 2026 03:27:40 +0000 (-0700)
Subject: Merge branch 'main' into taran-cleanout
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=4dae83ca77a426d2336a641df90d4bfae6cb7de1;p=FRC2026.git

Merge branch 'main' into taran-cleanout
---

4dae83ca77a426d2336a641df90d4bfae6cb7de1
diff --cc src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index ae572ad,9b2c40e..4567eae
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@@ -12,9 -20,7 +12,8 @@@ public class Spindexer extends Subsyste
  
      private double power = 0.0;
      public int ballCount = 0;
 +    private boolean wasSpindexerSlow = false;
      private SpindexerState state = SpindexerState.STOPPED;
-     private boolean reversing = false;
      private SpindexerIOInputsAutoLogged inputs = new SpindexerIOInputsAutoLogged();
  
      public boolean noIndexing = false;
@@@ -39,29 -55,17 +38,25 @@@
  
      @Override
      public void periodic() {
 -        updateInputs();
 +        io.updateInputs(inputs);
          Logger.processInputs("Spindexer", inputs);
  
 +        if (resetPos == null) {
 +            io.setPositionRaw(0.1 * gearRatio);
-             resetPos = (inputs.spindexerPosition / gearRatio) % 1.0;
++            resetPos = (inputs.spindexerOneVelocity / gearRatio) % 1.0;
 +            resetPID.reset();
 +        }
 +
          if (state == SpindexerState.MAX) {
-             io.setControl(new DutyCycleOut(SpindexerConstants.spindexerMaxPower).withEnableFOC(true));
-             reversing = false;
 -            setMotorVoltages(SpindexerConstants.spindexerForwardVoltage);
++            io.setControl(new DutyCycleOut(SpindexerConstants.spindexerForwardVoltage / 12.0).withEnableFOC(true));
          } else if (state == SpindexerState.REVERSE) {
-             io.setControl(new DutyCycleOut(SpindexerConstants.spindexerReversePower).withEnableFOC(true));
-             reversing = true;
 -            setMotorVoltages(SpindexerConstants.spindexerReverseVoltage);
++            io.setControl(new DutyCycleOut(SpindexerConstants.spindexerReverseVoltage / 12.0).withEnableFOC(true));
          } else if (state == SpindexerState.STOPPED) {
 -            setMotorVoltages(0.0);
 +            io.setControl(new DutyCycleOut(0.0).withEnableFOC(true));
-             reversing = false;
 +        } else if (state == SpindexerState.RESET && resetPos != null) {
-             io.setControl(new DutyCycleOut(resetPID.calculate((inputs.spindexerPosition / gearRatio) % 1.0, resetPos)).withEnableFOC(true));
++            io.setControl(new DutyCycleOut(resetPID.calculate((inputs.spindexerOneVelocity / gearRatio) % 1.0, resetPos)).withEnableFOC(true));
          } else {
 -            setMotorVoltages(power);
 +            io.setControl(new DutyCycleOut(power).withEnableFOC(true));
-             reversing = false;
          }
  
  
@@@ -74,12 -74,6 +69,12 @@@
              SmartDashboard.putBoolean("Spindexer Has Ball", ballCount > 0);
          }
  
-         boolean isSpindexerSlow = inputs.spindexerVelocity < velocityThreshold;
++        boolean isSpindexerSlow = (inputs.spindexerOneVelocity + inputs.spindexerTwoVelocity) / 2.0 < velocityThreshold;
 +        if (wasSpindexerSlow && !isSpindexerSlow && power > 0.1) {
 +            ballCount++;
 +        }
 +        wasSpindexerSlow = isSpindexerSlow;
 +
          if (!Constants.DISABLE_SMART_DASHBOARD) {
              SmartDashboard.putBoolean("Spindexer Reversing", state == SpindexerState.REVERSE);
          }
@@@ -102,16 -101,8 +97,16 @@@
          state = SpindexerState.CUSTOM;
      }
  
 +    public void resetSpindexer() {
 +        state = SpindexerState.RESET;
 +    }
 +
 +    public void resetResetAngle() {
 +        resetPos = null;
 +    }
 +
      public double getStatorCurrent() {
-         return inputs.spindexerCurrent;
+         return inputs.spindexerOneCurrent + inputs.spindexerTwoCurrent;
      }
  
      public void setNewCurrentLimit(double newCurrentLimit) {
diff --cc src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
index 321cb1d,e1a154f..0c8ab05
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIO.java
@@@ -2,21 -2,14 +2,22 @@@ package frc.robot.subsystems.spindexer
  
  import org.littletonrobotics.junction.AutoLog;
  
 +import com.ctre.phoenix6.controls.ControlRequest;
 +
  public interface SpindexerIO {
-   @AutoLog
-   public static class SpindexerIOInputs {
-     public double spindexerVelocity = 0.0;
-     public double spindexerCurrent = 0.0;
-     public double spindexerPosition = 0.0;
-   }
+     @AutoLog
+     public static class SpindexerIOInputs {
+         public double spindexerOneVelocity = 0.0;
+         public double spindexerOneCurrent = 0.0;
+         public double spindexerTwoVelocity = 0.0;
+         public double spindexerTwoCurrent = 0.0;
+     }
  
 -    public void updateInputs();
 +  public void updateInputs(SpindexerIOInputs inputs);
 +
 +  public void setControl(ControlRequest request);
 +
 +  public void setPositionRaw(double pos);
 +
 +  public void setNewCurrentLimit(double newCurrentLimit);
  }