From 6f3864f161b68fc43a7cde8ef532ae0984613a1d Mon Sep 17 00:00:00 2001 From: moo Date: Sun, 29 Mar 2026 15:41:35 -0700 Subject: [PATCH] make work gud --- src/main/java/frc/robot/subsystems/spindexer/Spindexer.java | 4 ++-- 1 file changed, 2 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 50aa904..df6bb83 100644 --- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java +++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java @@ -53,7 +53,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO { Logger.processInputs("Spindexer", inputs); if (resetPos == null) { - resetPos = (motor.getPosition().getValueAsDouble() % gearRatio); + resetPos = (motor.getPosition().getValueAsDouble() % gearRatio) % 1.0; resetPID.reset(); } @@ -67,7 +67,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO { motor.set(0.0); reversing = false; } else if (state == SpindexerState.RESET && resetPos != null) { - motor.set(resetPID.calculate((motor.getPosition().getValueAsDouble() % gearRatio), resetPos)); + motor.set(resetPID.calculate((motor.getPosition().getValueAsDouble() % gearRatio) % 1.0, resetPos)); } else { motor.set(power); reversing = false; -- 2.39.5