From 6aedc309da19ee5df9ca28dd8a0c819f8caa768f Mon Sep 17 00:00:00 2001
From: moo <moogoesmeow123@gmail.com>
Date: Fri, 17 Apr 2026 15:42:56 -0700
Subject: [PATCH] testing, fix reversed motor2

---
 src/main/java/frc/robot/subsystems/spindexer/Spindexer.java   | 3 +++
 .../frc/robot/subsystems/spindexer/SpindexerConstants.java    | 4 ++--
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index d9822c5..a7f5046 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -1,9 +1,11 @@
 package frc.robot.subsystems.spindexer;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.InvertedValue;
 
 import org.littletonrobotics.junction.Logger;
 
@@ -39,6 +41,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         limitConfig.SupplyCurrentLowerTime = 1.5;
         motorOne.getConfigurator().apply(limitConfig);
         motorTwo.getConfigurator().apply(limitConfig);
+        motorTwo.getConfigurator().apply(new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive));
 
         if (!Constants.DISABLE_SMART_DASHBOARD) {
             SmartDashboard.putData("Spindexer Run Forward", new InstantCommand(() -> maxSpindexer()));
diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
index 1855440..0d2b357 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
@@ -2,12 +2,12 @@ package frc.robot.subsystems.spindexer;
 
 public class SpindexerConstants {
     public static final double spindexerVelocityWithBall = 6.0; // rps (for counting balls)
-    public static final double currentLimit = 40; // A
+    public static final double currentLimit = 20; // A
     public static final double spindexerForwardVoltage = 1.00; // Volts (set low for testing)
     public static final double spindexerReverseVoltage = -1.00; // Volts
     public static final double GEAR_RATIO = 27.0; // unused & both motors have same gearing
 
-    public static final double CURRENT_SPIKE_LIMIT = 150;
+    public static final double CURRENT_SPIKE_LIMIT = 20;
     public static final double CURRENT_TIME_LIMIT = 1.0; //s
     public static final double JAM_CURRENT_THRESHOLD = 75.0; // A
     public static final double JAM_DEBOUNCE_TIME = 0.3; // seconds
-- 
2.39.5