From: moo <moogoesmeow123@gmail.com>
Date: Sun, 29 Mar 2026 22:41:35 +0000 (-0700)
Subject: make work gud
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=6f3864f161b68fc43a7cde8ef532ae0984613a1d;p=FRC2026.git

make work gud
---

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 50aa904..df6bb83 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -53,7 +53,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         Logger.processInputs("Spindexer", inputs);
 
         if (resetPos == null) {
-            resetPos = (motor.getPosition().getValueAsDouble() % gearRatio);
+            resetPos = (motor.getPosition().getValueAsDouble() % gearRatio) % 1.0;
             resetPID.reset();
         }
 
@@ -67,7 +67,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
             motor.set(0.0);
             reversing = false;
         } else if (state == SpindexerState.RESET && resetPos != null) {
-            motor.set(resetPID.calculate((motor.getPosition().getValueAsDouble() % gearRatio), resetPos));
+            motor.set(resetPID.calculate((motor.getPosition().getValueAsDouble() % gearRatio) % 1.0, resetPos));
         } else {
             motor.set(power);
             reversing = false;