From 9a38211b1921b44d34c9942e7c5bbdb516a00d1d Mon Sep 17 00:00:00 2001 From: iefomit Date: Tue, 14 Apr 2026 18:08:00 -0700 Subject: [PATCH] Revert "i added a second motor" This reverts commit 99f8d53ce1ff28b2888bdb00d9514b46a48b6728. --- .../robot/subsystems/spindexer/Spindexer.java | 27 +++++++------------ 1 file changed, 9 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java index 4ba03c2..e9cb913 100644 --- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java +++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java @@ -14,9 +14,7 @@ import frc.robot.constants.Constants; import frc.robot.constants.IdConstants; public class Spindexer extends SubsystemBase implements SpindexerIO { - private TalonFX motorOne = new TalonFX(IdConstants.SPINDEXER_ID, Constants.CANIVORE_SUB); - private TalonFX motorTwo = new TalonFX(67, Constants.CANIVORE_SUB); - + private TalonFX motor = new TalonFX(IdConstants.SPINDEXER_ID, Constants.CANIVORE_SUB); private double power = 0.0; public int ballCount = 0; @@ -37,8 +35,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO { limitConfig.StatorCurrentLimitEnable = true; limitConfig.SupplyCurrentLowerLimit = SpindexerConstants.currentLimit; limitConfig.SupplyCurrentLowerTime = 1.5; - motorOne.getConfigurator().apply(limitConfig); - motorTwo.getConfigurator().apply(limitConfig); + motor.getConfigurator().apply(limitConfig); if (!Constants.DISABLE_SMART_DASHBOARD) { SmartDashboard.putData("Spindexer Run Forward", new InstantCommand(() -> maxSpindexer())); @@ -63,25 +60,24 @@ public class Spindexer extends SubsystemBase implements SpindexerIO { Logger.processInputs("Spindexer", inputs); if (resetPos == null) { - motorOne.setPosition(0.1 * gearRatio); - motorTwo.setPosition(0.1 * gearRatio); - resetPos = (motorOne.getPosition().getValueAsDouble() / gearRatio) % 1.0; + motor.setPosition(0.1 * gearRatio); + resetPos = (motor.getPosition().getValueAsDouble() / gearRatio) % 1.0; resetPID.reset(); } if (state == SpindexerState.MAX) { - setMotors(SpindexerConstants.spindexerMaxPower); + motor.setControl(new DutyCycleOut(SpindexerConstants.spindexerMaxPower).withEnableFOC(true)); reversing = false; } else if (state == SpindexerState.REVERSE) { - setMotors(SpindexerConstants.spindexerReversePower); + motor.setControl(new DutyCycleOut(SpindexerConstants.spindexerReversePower).withEnableFOC(true)); reversing = true; } else if (state == SpindexerState.STOPPED) { - setMotors(0.0); + motor.setControl(new DutyCycleOut(0.0).withEnableFOC(true)); reversing = false; } else if (state == SpindexerState.RESET && resetPos != null) { - setMotors(resetPID.calculate((motorOne.getPosition().getValueAsDouble() / gearRatio) % 1.0, resetPos)); + motor.setControl(new DutyCycleOut(resetPID.calculate((motor.getPosition().getValueAsDouble() / gearRatio) % 1.0, resetPos)).withEnableFOC(true)); } else { - setMotors(power); + motor.setControl(new DutyCycleOut(power).withEnableFOC(true)); reversing = false; } @@ -106,11 +102,6 @@ public class Spindexer extends SubsystemBase implements SpindexerIO { } } - public void setMotors(double value) { - motorOne.setControl(new DutyCycleOut(value).withEnableFOC(true)); - motorTwo.setControl(new DutyCycleOut(value).withEnableFOC(true)); - } - public void maxSpindexer() { state = SpindexerState.MAX; } -- 2.39.5