From: iefomit <timofei.stem@gmail.com>
Date: Sat, 28 Mar 2026 16:44:11 +0000 (-0700)
Subject: builds
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=a19df0070595ae915dc3804285607c08f105e462;p=FRC2026.git

builds
---

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index de8b6e9..1c47ac0 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -221,7 +221,7 @@ public class Superstructure extends Command {
         } else {
             turret.setFieldRelativeTarget(Rotation2d.fromDegrees(turretSetpoint), turretVelocity - drivetrain.getAngularRate(2));
 
-            boolean shuttling = target.getZ() != FieldConstants.getHubTranslation().getZ(); // if we're aiming upward we are aiming at hub, thus not shuttling
+            boolean shuttling = target != FieldConstants.getHubTranslation().toTranslation2d(); // if we're aiming at the hub, we're not shuttling
 
             // shuttling will move the hood so its angles very close to max (less arch)
             if (shuttling) {
diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 4af68f9..79155d9 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -18,6 +18,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
     public int ballCount = 0;
     private boolean wasSpindexerSlow = false;
     private SpindexerState state = SpindexerState.STOPPED;
+    private boolean reversing = false;
     private SpindexerIOInputsAutoLogged inputs = new SpindexerIOInputsAutoLogged();
     public Spindexer() {
         updateInputs();
@@ -49,12 +50,16 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
 
         if (state == SpindexerState.MAX) {
             motor.set(SpindexerConstants.spindexerMaxPower);
+            reversing = false;
         } else if (state == SpindexerState.REVERSE) {
             motor.set(SpindexerConstants.spindexerReversePower);
+            reversing = true;
         } else if (state == SpindexerState.STOPPED) {
             motor.set(0.0);
+            reversing = false;
         } else {
             motor.set(power);
+            reversing = false;
         }
 
         // scale threshold based on power