From: iefomit <timofei.stem@gmail.com>
Date: Sat, 7 Mar 2026 01:33:53 +0000 (-0800)
Subject: Merge branch 'main' into maxwells_temp_branch_26_03_06
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=9e423eccad0190ee0437d3d7962ad6d45dcec50d;p=FRC2026.git

Merge branch 'main' into maxwells_temp_branch_26_03_06
---

9e423eccad0190ee0437d3d7962ad6d45dcec50d
diff --cc src/main/java/frc/robot/commands/gpm/Superstructure.java
index 436c019,255e1b3..91506fd
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@@ -122,9 -120,9 +122,8 @@@ public class Superstructure extends Com
              goalState = ShooterPhysics.getShotParams(
  					Translation2d.kZero,
  				target3d.minus(lookahead3d),
-                 target == FieldConstants.getHubTranslation().toTranslation2d() ?
- 				2.0 : 2.0);
+ 					            2.0);
  
 -            double TOFAdjustment = 0.85;
              timeOfFlight = goalState.timeOfFlight() * TOFAdjustment;
              double offsetX = turretVelocityX * timeOfFlight;
              double offsetY = turretVelocityY * timeOfFlight;
diff --cc src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index fd2e702,be44154..1cd5066
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@@ -145,16 -136,8 +143,8 @@@ public class PS5ControllerDriverConfig 
  
          // Spindexer
          if (spindexer != null) {
-             // Toggle spindexer
-             controller.get(PS5Button.LEFT_TRIGGER).onTrue(new InstantCommand(() -> {
-                 if (spindexerBoolean) {
-                     spindexer.maxSpindexer();
-                     spindexerBoolean = false;
-                 } else {
-                     spindexer.stopSpindexer();
-                     spindexerBoolean = true;
-                 }
-             }));
+             // Will only run if we are not calling default shoot command
 -            controller.get(PS5Button.LEFT_TRIGGER).whileTrue(new RunSpindexer(spindexer));
++            controller.get(PS5Button.LEFT_TRIGGER).whileTrue(new RunSpindexer(spindexer, turret));
          }
  
          // Auto shoot