From: moo <moogoesmeow123@gmail.com>
Date: Tue, 21 Apr 2026 22:38:45 +0000 (-0700)
Subject: dynamic works
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=5febfc1b986dc65670dad7370de839ce5f51983a;p=FRC2026.git

dynamic works
---

diff --git a/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java b/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java
index 1bbd748..09461d5 100644
--- a/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java
+++ b/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java
@@ -138,8 +138,6 @@ public class DynamicAutoBuilder {
     }
 
     private Command startShootingCommand() {
-        return new InstantCommand(() -> {
-            new InstantCommand(() -> hood.forceHoodDown(false));
-        });
+        return new InstantCommand(() -> hood.forceHoodDown(false));
     }
 }
diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java b/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java
index 71c3f5e..2a08f33 100644
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java
@@ -38,6 +38,8 @@ public class RunSpindexerWithStop extends Command {
 
     private Timer runTimer = new Timer();
     private boolean seizing;
+
+    private Debouncer debouncer = new Debouncer(0.3, DebounceType.kRising);
     
     public RunSpindexerWithStop(Spindexer spindexer, Turret turret, Hood hood, Intake intake) {
         this.spindexer = spindexer;
@@ -123,6 +125,6 @@ public class RunSpindexerWithStop extends Command {
 
     @Override
     public boolean isFinished() {
-        return spindexer.spinningAir() && runTimer.hasElapsed(1.0);
+        return runTimer.hasElapsed(1.0) && debouncer.calculate(spindexer.spinningAir());
     }
 }
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 6a7caa8..3569dba 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -11,6 +11,7 @@ import frc.robot.Robot;
 import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.ReverseMotors;
 import frc.robot.commands.gpm.RunSpindexer;
+import frc.robot.commands.gpm.RunSpindexerWithStop;
 import frc.robot.commands.gpm.Superstructure;
 import frc.robot.constants.Constants;
 import frc.robot.subsystems.Intake.Intake;
@@ -124,7 +125,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
 
             // Toggle spindexer
             controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue(
-                new RunSpindexer(spindexer, turret, hood, intake)
+                new RunSpindexerWithStop(spindexer, turret, hood, intake)
             );
         }
 
diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 08c4492..7eb4459 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -31,9 +31,9 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
 
         // configure current limit
         CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
-        limitConfig.StatorCurrentLimit = SpindexerConstants.SUPPLY_CURRENT_LIMIT;
+        limitConfig.StatorCurrentLimit = SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT;
         limitConfig.StatorCurrentLimitEnable = true;
-        limitConfig.SupplyCurrentLowerLimit = SpindexerConstants.CURRENT_FORWARD_STATOR_LIMIT;
+        limitConfig.SupplyCurrentLowerLimit = SpindexerConstants.SUPPLY_CURRENT_LIMIT;
         limitConfig.SupplyCurrentLimitEnable = true;
         motorOne.getConfigurator().apply(limitConfig);
         motorTwo.getConfigurator().apply(limitConfig);