From: iefomit <timofei.stem@gmail.com>
Date: Sun, 29 Mar 2026 05:07:45 +0000 (-0700)
Subject: some fixes
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=96ee6c494399666f849690e53fbb6512a37ab9c5;p=FRC2026.git

some fixes
---

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f509b70..4d3eb8e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -23,7 +23,6 @@ import frc.robot.commands.LogCommand;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AutoShootCommand;
 import frc.robot.commands.gpm.ClimbDriveCommand;
-// import frc.robot.commands.gpm.HardstopWarning;
 import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.RunSpindexer;
 import frc.robot.commands.gpm.Superstructure;
@@ -112,8 +111,7 @@ public class RobotContainer {
         hood = new Hood();
       
       case TwinBot:
-        spindexer = new Spindexer();
-        intake = new Intake();
+        break;
 
       case SwerveCompetition: // AKA "Vantage"
 
diff --git a/src/main/java/frc/robot/commands/gpm/HardstopWarning.java b/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
index f55702d..4f0107f 100644
--- a/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
+++ b/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
@@ -6,19 +6,14 @@ import frc.robot.constants.IntakeConstants;
 import frc.robot.subsystems.Intake.Intake;
 import frc.robot.subsystems.hood.Hood;
 import frc.robot.subsystems.hood.HoodConstants;
-import frc.robot.subsystems.turret.Turret;
 
 public class HardstopWarning extends Command {
 	private Hood hood;
 	private Intake intake;
-	private Turret turret;
-	private String turretStatus;
 
-	public HardstopWarning(Hood hood, Intake intake, Turret turret) {
+	public HardstopWarning(Hood hood, Intake intake) {
 		this.hood = hood;
 		this.intake = intake;
-		this.turret = turret;
-		turretStatus = "Unknown";
 	}
 
 	@Override
@@ -31,16 +26,6 @@ public class HardstopWarning extends Command {
 		double epsilon = 0.05;
 		SmartDashboard.putBoolean("Hood OK", hood.getPositionDeg() >= HoodConstants.MIN_ANGLE - epsilon);
 		SmartDashboard.putBoolean("Intake OK", intake.getPosition() >= IntakeConstants.STARTING_POINT - epsilon);
-
-		// if (Math.abs(turret.getPositionRad()) <= epsilon) {
-		// 	var encoderPositions = turret.getEncoderPositions();
-		// 	if (Math.abs(encoderPositions.getFirst()) <= epsilon && Math.abs(encoderPositions.getSecond()) <= epsilon)
-		// 		turretStatus = "Ok";
-		// 	else
-		// 		turretStatus = "Bad";
-		// }
-
-		SmartDashboard.putString("Turret Status", turretStatus);
 	}
 
 	@Override
diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
index c0af909..c4459e7 100644
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
@@ -23,7 +23,7 @@ public class RunSpindexer extends Command {
         this.turret = turret;
         this.hood = hood;
 
-        addRequirements(spindexer, hood);
+        addRequirements(spindexer);
     }
 
         // public RunSpindexer(Spindexer spindexer) {
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index a65c1b0..205e9b1 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -142,7 +142,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
         }
 
         // Spindexer
-        if (spindexer != null) {
+        if (spindexer != null && turret != null && hood != null) {
 
             // Toggle spindexer
             controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue(
diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 126013e..d42d8b1 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -126,7 +126,7 @@ public class Intake extends SubsystemBase implements IntakeIO{
         leftMotor.getConfigurator().apply(config);
 
         leftMotor.getConfigurator().apply(
-            new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive)
+            new MotorOutputConfigs().withInverted(InvertedValue.CounterClockwise_Positive)
             .withNeutralMode(NeutralModeValue.Coast)
         );
 
@@ -241,7 +241,7 @@ public class Intake extends SubsystemBase implements IntakeIO{
      * @param setpoint in inches
      */
     public void setPosition(double setpoint) {
-        double motorRotations = -inchesToRotations(setpoint);
+        double motorRotations = inchesToRotations(setpoint);
         rightMotor.setControl(voltageRequest.withPosition(motorRotations));
         leftMotor.setControl(voltageRequest.withPosition(motorRotations));