From: iefomit <timofei.stem@gmail.com>
Date: Tue, 7 Apr 2026 01:48:10 +0000 (-0700)
Subject: enable foc on all motors
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=642d94bb73d85878c2ad0b9ca1b4c208d0cbbd31;p=FRC2026.git

enable foc on all motors
---

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index b0eea66..d373bb9 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -255,8 +255,8 @@ public class Intake extends SubsystemBase implements IntakeIO{
      */
     public void setPosition(double setpoint) {
         double motorRotations = -inchesToRotations(setpoint);
-        rightMotor.setControl(voltageRequest.withPosition(motorRotations));
-        leftMotor.setControl(voltageRequest.withPosition(motorRotations));
+        rightMotor.setControl(voltageRequest.withPosition(motorRotations).withEnableFOC(true));
+        leftMotor.setControl(voltageRequest.withPosition(motorRotations).withEnableFOC(true));
 
         setpointInches = setpoint;
     }
diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java
index 102d949..e0b8bdd 100644
--- a/src/main/java/frc/robot/subsystems/hood/Hood.java
+++ b/src/main/java/frc/robot/subsystems/hood/Hood.java
@@ -150,7 +150,8 @@ public class Hood extends SubsystemBase implements HoodIO {
 			// Set control with feedforward
 			motor.setControl(mmVoltageRequest
 			.withPosition(motorGoalRotations)
-			.withFeedForward(velocityCompensation));
+			.withFeedForward(velocityCompensation)
+			.withEnableFOC(true));
 		}
 
         if (!Constants.DISABLE_LOGGING) {
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index fcec299..af8cfac 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -93,8 +93,8 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         }
 
         // Sets the motor control to target velocity
-        shooterMotorLeft.setControl(voltageRequest.withVelocity(targetVelocityRPS));
-        shooterMotorRight.setControl(voltageRequest.withVelocity(targetVelocityRPS));   
+        shooterMotorLeft.setControl(voltageRequest.withVelocity(targetVelocityRPS).withEnableFOC(true));
+        shooterMotorRight.setControl(voltageRequest.withVelocity(targetVelocityRPS).withEnableFOC(true));   
         
         if (!Constants.DISABLE_LOGGING) {
             Logger.recordOutput("Shooter/realVelocity", shooterMotorLeft.getVelocity().getValueAsDouble() * ShooterConstants.SHOOTER_LAUNCH_DIAMETER);
diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 4cba8ed..36724a7 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -1,6 +1,7 @@
 package frc.robot.subsystems.spindexer;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import org.littletonrobotics.junction.Logger;
@@ -62,18 +63,18 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         }
 
         if (state == SpindexerState.MAX) {
-            motor.set(SpindexerConstants.spindexerMaxPower);
+            motor.setControl(new DutyCycleOut(SpindexerConstants.spindexerMaxPower).withEnableFOC(true));
             reversing = false;
         } else if (state == SpindexerState.REVERSE) {
-            motor.set(SpindexerConstants.spindexerReversePower);
+            motor.setControl(new DutyCycleOut(SpindexerConstants.spindexerReversePower).withEnableFOC(true));
             reversing = true;
         } else if (state == SpindexerState.STOPPED) {
-            motor.set(0.0);
+            motor.setControl(new DutyCycleOut(0.0).withEnableFOC(true));
             reversing = false;
         } else if (state == SpindexerState.RESET && resetPos != null) {
-            motor.set(resetPID.calculate((motor.getPosition().getValueAsDouble() / gearRatio) % 1.0, resetPos));
+            motor.setControl(new DutyCycleOut(resetPID.calculate((motor.getPosition().getValueAsDouble() / gearRatio) % 1.0, resetPos)).withEnableFOC(true));
         } else {
-            motor.set(power);
+            motor.setControl(new DutyCycleOut(power).withEnableFOC(true));
             reversing = false;
         }
 
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 626a8ed..3c7d47a 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -216,7 +216,8 @@ public class Turret extends SubsystemBase implements TurretIO{
 			// Sets motor control with feedforward
 			motor.setControl(mmVoltageRequest
 			.withPosition(motorGoalRotations)
-			.withFeedForward(robotTurnCompensation));
+			.withFeedForward(robotTurnCompensation)
+			.withEnableFOC(true));
 		}
 
         if (!Constants.DISABLE_LOGGING) {