From: Wesley28w <wesleycwong@gmail.com>
Date: Mon, 20 Apr 2026 12:43:23 +0000 (-0700)
Subject: Merge branch 'main' into power-distribution
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=b5b25f0dcd85947990fd7d13c7709d90b48be38d;p=FRC2026.git

Merge branch 'main' into power-distribution
---

b5b25f0dcd85947990fd7d13c7709d90b48be38d
diff --cc src/main/java/frc/robot/RobotContainer.java
index 71933a1,29bef8a..7263be7
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@@ -11,8 -11,6 +11,7 @@@ import com.pathplanner.lib.commands.Pat
  
  import edu.wpi.first.math.geometry.Pose3d;
  import edu.wpi.first.wpilibj.DriverStation;
- import edu.wpi.first.wpilibj.Timer;
 +import edu.wpi.first.wpilibj.PS5Controller;
  import edu.wpi.first.wpilibj.RobotController;
  import edu.wpi.first.wpilibj.livewindow.LiveWindow;
  import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@@ -21,10 -19,10 +20,9 @@@ import edu.wpi.first.wpilibj2.command.C
  import edu.wpi.first.wpilibj2.command.CommandScheduler;
  import edu.wpi.first.wpilibj2.command.InstantCommand;
  import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+ import frc.robot.commands.DoNothing;
  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.BrownOutControl;
  import frc.robot.commands.gpm.IntakeMovementCommand;
  import frc.robot.commands.gpm.LockedShoot;
  import frc.robot.commands.gpm.RunSpindexer;
@@@ -36,10 -34,8 +34,9 @@@ import frc.robot.constants.VisionConsta
  import frc.robot.controls.BaseDriverConfig;
  import frc.robot.controls.Operator;
  import frc.robot.controls.PS5ControllerDriverConfig;
- import frc.robot.subsystems.Climb.LinearClimb;
  import frc.robot.subsystems.Intake.Intake;
  import frc.robot.subsystems.LED.LED;
 +import frc.robot.subsystems.PowerControl.EMABreaker;
  import frc.robot.subsystems.drivetrain.Drivetrain;
  import frc.robot.subsystems.drivetrain.GyroIOPigeon2;
  import frc.robot.subsystems.hood.Hood;
@@@ -75,14 -72,7 +73,12 @@@ public class RobotContainer 
    // Controllers are defined here
    private BaseDriverConfig driver = null;
    private Operator operator = null;
-   private LinearClimb linearClimb = null;
-   private LED led = null;
  
 +  private EMABreaker breaker = null;
 +
 +  // TODO: move to correct robot and put the correct port?
 +  private PS5Controller ps5 = new PS5Controller(0);
 +
    // auto Command selection
    private final SendableChooser<Command> autoChooser = new SendableChooser<>();
  
@@@ -172,8 -148,14 +155,10 @@@
          if (turret != null) {
            turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer));
          }
 -
 -        if (shooter != null && spindexer != null && turret != null && intake != null && hood != null && drive != null) {
 -          CommandScheduler.getInstance().schedule(new BrownOutControl(shooter, spindexer, turret, intake, hood, drive));
 -        }
          
-         drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
+         if (drive != null && driver != null) {
+           drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
+         }
          break;
      }
  
diff --cc src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 366a215,bdd9eb2..749af85
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@@ -24,9 -24,11 +24,10 @@@ public class TurretConstants 
  
  	public static final double EXTRAPOLATION_TIME_CONSTANT = 0.06;
  
- 	public static final double FEEDFORWARD_KV = 0.06;
+ 	public static final double FEEDFORWARD_KV = 0.02
+     ;
  
 -    public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
 -    public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A
 -    public static final double CALIBRATION_CURRENT_THRESHOLD = 9.0; // A
 +    public static final double STATOR_CURRENT_LIMIT = 40.0; // A
 +    public static final double SUPPLY_CURRENT_LIMIT = 40.0; // A
  
  }