From 672d373d8a3c001de0fc836561fbe571ba59f2a2 Mon Sep 17 00:00:00 2001
From: moo <160301629+moogoesmeow0@users.noreply.github.com>
Date: Sun, 30 Aug 2026 12:54:44 -0700
Subject: [PATCH] THE MOMENT OF TRUTH

twas a success
---
 .../frc/robot/subsystems/spindexer/Spindexer.java  | 14 +++++++-------
 .../subsystems/spindexer/SpindexerConstants.java   |  1 +
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 011379b..6abf110 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -56,6 +56,9 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
     slot0.kV = 0.11;
     slot0.kA = 0.0;
 
+    configs.MotionMagic.MotionMagicAcceleration = 999;
+    configs.MotionMagic.MotionMagicJerk = 0;
+
     motorOne.getConfigurator().apply(configs);
     motorTwo.getConfigurator().apply(configs);
     motorOne.getConfigurator().apply(limitConfig);
@@ -106,11 +109,6 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
 
   @Override
   public void periodic() {
-    tuner.periodic();
-
-  }
-
-  public void periodicDEATH() {
     updateInputs();
     Logger.processInputs("Spindexer", inputs);
 
@@ -146,8 +144,10 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
   }
 
   public void setMotorVoltages(double voltage) {
-    motorOne.setControl(new VoltageOut(voltage * 12).withEnableFOC(true));
-    motorTwo.setControl(new VoltageOut(voltage * 12).withEnableFOC(true));
+    // motorOne.setControl(new VoltageOut(voltage * 12).withEnableFOC(true));
+    // motorTwo.setControl(new VoltageOut(voltage * 12).withEnableFOC(true));
+    motorOne.setControl(velocityRequest.withVelocity(voltage * SpindexerConstants.MAX_RPM));
+    motorTwo.setControl(velocityRequest.withVelocity(voltage * SpindexerConstants.MAX_RPM));
   }
 
   public void maxSpindexer() {
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
index 54b026e..3fe1ea9 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
@@ -14,4 +14,5 @@ public class SpindexerConstants {
     public static final double JAM_VELOCITY_THRESHOLD = 10.0; // A
     public static final double JAM_DEBOUNCE_TIME = 0.3; // seconds
     public static final double REVERSE_DEBOUNCE_TIME = 0.25; // seconds
+    public static final double MAX_RPM = 140;
 }
-- 
2.47.3