From 34b9b956c14798b4e957711c89d0cd0f959d8303 Mon Sep 17 00:00:00 2001
From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Wed, 11 Mar 2026 15:29:28 -0700
Subject: [PATCH] ran (climb moves) only up and calibrate working + adjusted
 shooter mod

---
 src/main/java/frc/robot/RobotContainer.java            |  2 +-
 .../frc/robot/subsystems/Climb/ClimbConstants.java     |  7 ++++---
 .../java/frc/robot/subsystems/Climb/LinearClimb.java   | 10 +++++-----
 .../java/frc/robot/subsystems/shooter/Shooter.java     |  2 +-
 4 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 56ebb66..85ed2ed 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -226,7 +226,7 @@ public class RobotContainer {
 
     if (turret != null && drive != null && hood != null && shooter != null && spindexer != null) {
       Command runSpindexer = new RunSpindexer(spindexer, turret);
-      NamedCommands.registerCommand("Auto shoot", new Superstructure(turret, drive, hood, shooter, spindexer));
+      NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer));
       NamedCommands.registerCommand("Start Spindexer",
           new InstantCommand(() -> CommandScheduler.getInstance().schedule(runSpindexer)));
       NamedCommands.registerCommand("Stop Spindexer", new InstantCommand(() -> runSpindexer.cancel()));
diff --git a/src/main/java/frc/robot/subsystems/Climb/ClimbConstants.java b/src/main/java/frc/robot/subsystems/Climb/ClimbConstants.java
index ff626c5..9a631ff 100644
--- a/src/main/java/frc/robot/subsystems/Climb/ClimbConstants.java
+++ b/src/main/java/frc/robot/subsystems/Climb/ClimbConstants.java
@@ -1,5 +1,6 @@
 package frc.robot.subsystems.Climb;
 
+
 import edu.wpi.first.math.util.Units;
 
 public class ClimbConstants {
@@ -11,11 +12,11 @@ public class ClimbConstants {
     /** Winch spool radius in meters */
     public final static double WHEEL_RADIUS = Units.inchesToMeters(0.334);
     /** climber stowed ? position in meters */
-    public final static double BOTTOM_POSITION = Units.inchesToMeters(-8);
+    public final static double BOTTOM_POSITION = Units.inchesToMeters(8);
     /** Calibration position: lower than BOTTOM_POSITION to reduce motor strain */
-    public final static double CALIBRATION_POSITION = Units.inchesToMeters(-8.5);
+    public final static double CALIBRATION_POSITION = Units.inchesToMeters(8.5);
     /** position that should put the robot off the ground? in meters. */
-    public final static double CLIMB_POSITION = Units.inchesToMeters(-6);
+    public final static double CLIMB_POSITION = Units.inchesToMeters(6);
     public final static double UP_POSITION = 0.0;
 
     // current limits (in amps)
diff --git a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
index 812a31d..986c093 100644
--- a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
+++ b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
@@ -50,7 +50,7 @@ public class LinearClimb extends SubsystemBase implements LinearClimbIO {
         motor.setNeutralMode(NeutralModeValue.Brake);
 
         TalonFXConfiguration config = new TalonFXConfiguration();
-        config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+        config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
         motor.getConfigurator().apply(config);
 
         setCurrentLimits(ClimbConstants.CALIBRATION_CURRENT);
@@ -147,11 +147,11 @@ public class LinearClimb extends SubsystemBase implements LinearClimbIO {
         }
         motor.set(power);
 
-        SmartDashboard.putNumber("Climb/PID_Setpoint_Rotations", pid.getSetpoint());
-        SmartDashboard.putNumber("Climb/Motor_Actual_Rotations", motor.getPosition().getValueAsDouble());
-        SmartDashboard.putNumber("Climb/Motor_Actual_Meters", inputs.positionMeters);
+        SmartDashboard.putNumber("Climb PID_Setpoint_Rotations", pid.getSetpoint());
+        SmartDashboard.putNumber("Climb Motor_Actual_Rotations", motor.getPosition().getValueAsDouble());
+        SmartDashboard.putNumber("Climb Motor_Actual_Meters", inputs.positionMeters);
 
-        Logger.recordOutput("LinearClimb/setpointMeters", Units.rotationsToRadians(pid.getSetpoint())
+        Logger.recordOutput("LinearClimb setpointMeters", Units.rotationsToRadians(pid.getSetpoint())
                 * ClimbConstants.WHEEL_RADIUS / ClimbConstants.CLIMB_GEAR_RATIO);
         updateInputs();
         Logger.processInputs("LinearClimb", inputs);
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index b8c0208..3009047 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -30,7 +30,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
     private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
 
-    double powerModifier = 1.3;
+    double powerModifier = 1.25; // TESTED
 
     public Shooter(){
         updateInputs();
-- 
2.39.5