From: iefomit <timofei.stem@gmail.com>
Date: Fri, 17 Apr 2026 23:08:33 +0000 (-0700)
Subject: Merge branch 'main' into some-fixes
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=76b61752f13a2d9afa9c372c5abecec856c8f097;p=FRC2026.git

Merge branch 'main' into some-fixes
---

76b61752f13a2d9afa9c372c5abecec856c8f097
diff --cc src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 7d3e06e,9b2c40e..ef29b2a
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@@ -18,10 -20,8 +20,9 @@@ public class Spindexer extends Subsyste
  
      private double power = 0.0;
      public int ballCount = 0;
-     private boolean wasSpindexerSlow = false;
      private SpindexerState state = SpindexerState.STOPPED;
      private SpindexerIOInputsAutoLogged inputs = new SpindexerIOInputsAutoLogged();
 +    private double currentLimit = SpindexerConstants.currentLimit;
  
      public boolean noIndexing = false;
  
@@@ -134,24 -111,15 +113,19 @@@
          limitConfig.StatorCurrentLimitEnable = true;
          limitConfig.SupplyCurrentLowerLimit = newCurrentLimit;
          limitConfig.SupplyCurrentLowerTime = 1.5;
-         motor.getConfigurator().apply(limitConfig);
+         motorOne.getConfigurator().apply(limitConfig);
+         motorTwo.getConfigurator().apply(limitConfig);
      }
  
 +    public double getCurrentLimit() {
 +        return currentLimit;
 +    }
 +
      @Override
      public void updateInputs() {
-         inputs.spindexerVelocity = motor.getVelocity().getValueAsDouble(); //SpindexerConstants.gearRatio;
-         inputs.spindexerCurrent = motor.getStatorCurrent().getValueAsDouble();
+         inputs.spindexerOneVelocity = motorOne.getVelocity().getValueAsDouble();
+         inputs.spindexerOneCurrent = motorOne.getStatorCurrent().getValueAsDouble();
+         inputs.spindexerTwoVelocity = motorTwo.getVelocity().getValueAsDouble();
+         inputs.spindexerTwoCurrent = motorTwo.getStatorCurrent().getValueAsDouble();
      }
- 
-     private Double resetPos;
-     private PIDController resetPID = new PIDController(4.0, 0.0, 0);
- 
-     private final double gearRatio = 27.0 / 1.0; //spindexer spins once for every 27 motor spins
- 
-     
- 
  }