From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Sat, 7 Mar 2026 00:53:39 +0000 (-0800)
Subject: AntiJamming and spindexer works
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=ad0bca36d8b84cf112fd2b0674a867d9d9bf2106;p=FRC2026.git

AntiJamming and spindexer works
---

diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
index bcdbf65..7d74a1f 100644
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
@@ -18,9 +18,14 @@ public class RunSpindexer extends Command {
     public RunSpindexer(Spindexer spindexer, Turret turret) {
         this.spindexer = spindexer;
         this.turret = turret;
-        addRequirements(spindexer, turret);
+        addRequirements(spindexer);
     }
 
+        // public RunSpindexer(Spindexer spindexer) {
+        // this.spindexer = spindexer;
+        // addRequirements(spindexer);
+    // }
+
     @Override
     public void execute() {
         if (!turret.atSetpoint()) {
@@ -31,16 +36,15 @@ public class RunSpindexer extends Command {
         boolean jammed = spindexer.getStatorCurrent() > SpindexerConstants.JAM_CURRENT_THRESHOLD;
         if (jam_debouncer.calculate(jammed)) {
             reversing = true;
+            reversing_debouncer.calculate(reversing);
             System.out.println("Reversing the spindexer for Anti-Jam");
         }
         if (!reversing) {
             spindexer.maxSpindexer();
         } else {
             spindexer.reverseSpindexer();
-            if (reversing_debouncer.calculate(reversing)) {
+            if (!reversing_debouncer.calculate(false)) {
                 reversing = false;
-                reversing_debouncer.calculate(false);
-                jam_debouncer.calculate(false);
             }
         }
     }
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 5c66266..1364d12 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -143,6 +143,9 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue(
                 new RunSpindexer(spindexer, turret)
             );
+            // controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue(
+            //     new RunSpindexer(spindexer)
+            // );
         }
 
         // Auto shoot
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
index 6a61161..9b75e09 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
@@ -9,5 +9,5 @@ public class SpindexerConstants {
     public static final double CURRENT_TIME_LIMIT = 1.0; //s
     public static final double JAM_CURRENT_THRESHOLD = 9.0; // A
     public static final double JAM_DEBOUNCE_TIME = 0.3; // seconds
-    public static final double REVERSE_DEBOUNCE_TIME = 0.75; // seconds
+    public static final double REVERSE_DEBOUNCE_TIME = 0.5; // seconds
 }