From a12a2026031c6c8f5904f617303583ae9d3430da Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Thu, 26 Feb 2026 22:43:26 -0800
Subject: [PATCH] a

---
 src/main/java/frc/robot/RobotContainer.java              | 4 ++++
 src/main/java/frc/robot/commands/gpm/Superstructure.java | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index df354e4..628716a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -24,6 +24,7 @@ import frc.robot.commands.DoNothing;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AutoShootCommand;
 import frc.robot.commands.gpm.ClimbDriveCommand;
+import frc.robot.commands.gpm.Superstructure;
 import frc.robot.commands.vision.ShutdownAllPis;
 import frc.robot.constants.AutoConstants;
 import frc.robot.constants.Constants;
@@ -143,6 +144,9 @@ public class RobotContainer {
         } catch (IOException | ParseException e) {
           e.printStackTrace();
         }
+        if(turret != null){
+          turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer));
+        }
         drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
         break;
     }
diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 73145cb..2feca00 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -78,7 +78,7 @@ public class Superstructure extends Command {
 				FieldConstants.getHubTranslation().minus(new Translation3d(drivepose.getTranslation())),
 				8.0); // Random initial goalState to prevent it being null
         
-        addRequirements(turret);
+        addRequirements(turret, shooter, hood);
     }
 
     public void updateSetpoints(Pose2d drivepose) {
-- 
2.39.5