From 0c54bb6234137f9a819c2be7b4231ce3f555bd46 Mon Sep 17 00:00:00 2001 From: iefomit Date: Sat, 28 Mar 2026 18:36:46 -0700 Subject: [PATCH] enable once unpressed --- .../java/frc/robot/commands/gpm/RunSpindexer.java | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java index 253bc85..6b95fa4 100644 --- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java +++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java @@ -17,6 +17,8 @@ public class RunSpindexer extends Command { private Debouncer reversing_debouncer = new Debouncer(SpindexerConstants.REVERSE_DEBOUNCE_TIME, DebounceType.kFalling); // if there is a release in time Idk what it would be (kfalling vs krising) private boolean reversing = false; + private boolean wasHoodForcedDown = false; + public RunSpindexer(Spindexer spindexer, Turret turret, Hood hood) { this.spindexer = spindexer; this.turret = turret; @@ -32,7 +34,14 @@ public class RunSpindexer extends Command { @Override public void execute() { - if (!turret.atSetpoint() || hood.getHoodForcedDown()) { + boolean hoodForcedDown = hood.getHoodForcedDown(); + + if (wasHoodForcedDown && !hoodForcedDown) { + spindexer.maxSpindexer(); + } + wasHoodForcedDown = hoodForcedDown; + + if (!turret.atSetpoint() || hoodForcedDown) { spindexer.stopSpindexer(); reversing = false; return; // this is so the balls don't fly out when unaligned -- 2.39.5