From 2cdf7f0f347ee45c09d10f54e592d3ae3f81678c Mon Sep 17 00:00:00 2001 From: iefomit Date: Tue, 14 Apr 2026 10:59:39 -0700 Subject: [PATCH] some fixes --- src/main/java/frc/robot/controls/BaseDriverConfig.java | 2 +- .../frc/robot/controls/PS5ControllerDriverConfig.java | 10 +++++----- .../java/frc/robot/subsystems/drivetrain/GyroIO.java | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/controls/BaseDriverConfig.java b/src/main/java/frc/robot/controls/BaseDriverConfig.java index c0a3fc1..f04417d 100644 --- a/src/main/java/frc/robot/controls/BaseDriverConfig.java +++ b/src/main/java/frc/robot/controls/BaseDriverConfig.java @@ -13,7 +13,7 @@ import frc.robot.util.MathUtils; */ public abstract class BaseDriverConfig { - public final Drivetrain drive; + protected final Drivetrain drive; private double previousHeading = 0; diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index c42f596..9b57820 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -151,9 +151,8 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { })); } - // Hood + // shoot focus mode: reduces drive current if (spindexer != null) { - // Set the hood down -- for safety measures under trench controller.get(PS5Button.RB).onTrue(new InstantCommand(() -> shootFocus(true))) .onFalse(new InstantCommand(()-> shootFocus(false))); } @@ -163,12 +162,13 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { if (turnOn) { System.out.println("Shooting is now Focused"); spindexer.setNewCurrentLimit(SpindexerConstants.currentLimit); - drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, DriveConstants.DRIVE_PEAK_CURRENT_LIMIT * 0.25 - ); + drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, + DriveConstants.DRIVE_PEAK_CURRENT_LIMIT * 0.25); } else { System.out.println("Shooting back to normal (From focus)"); spindexer.setNewCurrentLimit(SpindexerConstants.currentLimit); - drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, DriveConstants.DRIVE_PEAK_CURRENT_LIMIT); + drive.applyNewModuleCurrents(DriveConstants.STEER_PEAK_CURRENT_LIMIT, + DriveConstants.DRIVE_PEAK_CURRENT_LIMIT); } } diff --git a/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java b/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java index 53c36d5..0ce1d57 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java @@ -33,7 +33,7 @@ public interface GyroIO { public default void updateInputs(GyroIOInputs inputs) {} /** returns the yaw status signal for time-synced odometry. */ - public default StatusSignal getYawSignal() { return null; } + public StatusSignal getYawSignal(); /** * set the yaw angle of the gyro. -- 2.39.5