From: moo <moogoesmeow123@gmail.com>
Date: Sun, 29 Mar 2026 22:35:53 +0000 (-0700)
Subject: add gear ratio so it doesn't rotate a bunch when resetting
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=cd5b95eabf77257610ccfa16556dd518c7403599;p=FRC2026.git

add gear ratio so it doesn't rotate a bunch when resetting
---

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index e5d113a..50aa904 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -53,7 +53,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         Logger.processInputs("Spindexer", inputs);
 
         if (resetPos == null) {
-            resetPos = motor.getPosition().getValueAsDouble();
+            resetPos = (motor.getPosition().getValueAsDouble() % gearRatio);
             resetPID.reset();
         }
 
@@ -67,7 +67,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
             motor.set(0.0);
             reversing = false;
         } else if (state == SpindexerState.RESET && resetPos != null) {
-            motor.set(resetPID.calculate(motor.getPosition().getValueAsDouble(), resetPos));
+            motor.set(resetPID.calculate((motor.getPosition().getValueAsDouble() % gearRatio), resetPos));
         } else {
             motor.set(power);
             reversing = false;
@@ -137,6 +137,8 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
     private Double resetPos;
     private PIDController resetPID = new PIDController(0.5, 0.1, 0);
 
+    private final double gearRatio = 27.0 / 1.0; //spindexer spins once for every 27 motor spins
+
     
 
 }