From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Mon, 2 Mar 2026 23:53:05 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=717fc738cc1c6b7afc35388d7766df741778c88a;p=FRC2026.git

a
---

diff --git a/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto b/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto
index 82643b4..db0b7a0 100644
--- a/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto	
+++ b/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto	
@@ -13,7 +13,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Duplicated Not Working"
+            "pathName": "#2 Left(No SOTM) under the trench"
           }
         },
         {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e7b1d9a..b248bea 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -150,7 +150,7 @@ public class RobotContainer {
         }
         
         if(turret != null){
-          turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer));
+          //turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer));
         }
         drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
         break;
diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
index 7ffc366..9d7f39e 100644
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
@@ -17,11 +17,11 @@ public class RunSpindexer extends Command {
 
     @Override
     public void execute() {
-        //if (turret.atSetpoint()){
+        if (turret.atSetpoint()){
             spindexer.maxSpindexer();
-        // } else{
-        //     spindexer.stopSpindexer();
-        // }
+         } else{
+             spindexer.stopSpindexer();
+        }
     }
 
     @Override
diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index bdffb1b..436c019 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -65,6 +65,8 @@ public class Superstructure extends Command {
 
     private double distanceFromTarget = 0.0;
 
+    private double TOFAdjustment = 0.85;
+
     public Superstructure(Turret turret, Drivetrain drivetrain, Hood hood, Shooter shooter, Spindexer spindexer) {
         this.turret = turret;
         this.drivetrain = drivetrain;
@@ -123,7 +125,6 @@ public class Superstructure extends Command {
                 target == FieldConstants.getHubTranslation().toTranslation2d() ?
 				2.0 : 2.0);
 
-            double TOFAdjustment = 0.85;
             timeOfFlight = goalState.timeOfFlight() * TOFAdjustment;
             double offsetX = turretVelocityX * timeOfFlight;
             double offsetY = turretVelocityY * timeOfFlight;
@@ -205,6 +206,9 @@ public class Superstructure extends Command {
 
     @Override
     public void execute() {
+        TOFAdjustment = SmartDashboard.getNumber("TOF Adjustment", TOFAdjustment);
+        SmartDashboard.putNumber("TOF Adjustment", TOFAdjustment);
+
         hoodOffset = SmartDashboard.getNumber("Hood Offset", hoodOffset);
         SmartDashboard.putNumber("Hood Offset", hoodOffset);
         turretOffset = SmartDashboard.getNumber("Turret Offset", turretOffset);
diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 4ee974c..3b587a8 100644
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -22,8 +22,8 @@ public class FieldConstants {
 
   public static final double RED_BORDER = FIELD_LENGTH/2 + Units.inchesToMeters(167.0);
   public static final double BLUE_BORDER = FIELD_LENGTH/2 - Units.inchesToMeters(167.0);
-  public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.12;
-  public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.88;
+  public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.167;
+  public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.833;
 
   /**The coordinate of the climb position */
   public static final Pose2d BLUE_CLIMB_LOCATION = new Pose2d(1.5, FIELD_WIDTH/2 - 2.0, new Rotation2d()); // TODO: find this
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 216bce9..484cbe4 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -132,7 +132,13 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
 
             // Stop intake roller
             controller.get(DPad.DOWN).onTrue(new InstantCommand(()->{
-                intake.spinStop();
+                if(intakeBoolean){
+                    intake.spinStart();
+                    intakeBoolean = false;
+                } else{
+                    intake.spinStop();
+                    intakeBoolean = true;
+                }
             }));
         }
 
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
index 64b098f..4c6520b 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
@@ -3,7 +3,7 @@ package frc.robot.subsystems.spindexer;
 public class SpindexerConstants {
     public static final double spindexerVelocityWithBall = 6.0; // rps (for counting balls)
     public static final double currentLimit = 40; //A
-    public static final double spindexerMaxPower = 0.75; 
+    public static final double spindexerMaxPower = 0.55; 
     public static final double spindexerReversePower = -0.2;
     public static final double CURRENT_SPIKE_LIMIT = 80;
     public static final double CURRENT_TIME_LIMIT = 1.0; //s