From 5e46a6c376235d3a6a0d91e861ca9eda9dc5f38a Mon Sep 17 00:00:00 2001
From: TheRealGrayden <nmunier65@gmail.com>
Date: Sat, 14 Mar 2026 16:16:28 -0400
Subject: [PATCH] Deflector Changes

---
 src/main/java/frc/robot/Constants.java        |  7 +++---
 .../robot/commands/ManualHopperCommand.java   | 15 ++++++++-----
 .../robot/commands/ManualShootCommand.java    | 22 +++++++++----------
 .../frc/robot/subsystems/TurretSubsystem.java |  2 ++
 4 files changed, 27 insertions(+), 19 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index d4c201a..d2535bc 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -95,9 +95,10 @@ public final class Constants {
     public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
     public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
     public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0);
-    public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(20);
-    public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(40);
-    public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(60);
+    public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(100);
+    public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(200);
+    public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(300);
+    public static final double DEFLECTOR_SERVO_RATIO = 1.0;
   }
   
   public static class HopperConstants {
diff --git a/src/main/java/frc/robot/commands/ManualHopperCommand.java b/src/main/java/frc/robot/commands/ManualHopperCommand.java
index e9b4cea..ac7c03b 100644
--- a/src/main/java/frc/robot/commands/ManualHopperCommand.java
+++ b/src/main/java/frc/robot/commands/ManualHopperCommand.java
@@ -23,16 +23,13 @@ public class ManualHopperCommand extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    if(m_xboxController.getRightBumper())
-    {
-      m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED);
-    }
+    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(m_xboxController.getLeftTriggerAxis()>.5 && m_xboxController.getRightTriggerAxis()>.5)
+    if(m_xboxController.getLeftTriggerAxis()>.5 && m_xboxController.getRightTriggerAxis()>.2)
     {
       m_subsystem.feed();
     }
@@ -40,6 +37,14 @@ public class ManualHopperCommand extends Command {
     {
       m_subsystem.stop();
     }
+    if(m_xboxController.getRightBumper())
+    {
+      m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED);
+    }
+    if(m_xboxController.getLeftBumper())
+    {
+      m_subsystem.spin(0);
+    }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/ManualShootCommand.java b/src/main/java/frc/robot/commands/ManualShootCommand.java
index d88a933..1a857de 100644
--- a/src/main/java/frc/robot/commands/ManualShootCommand.java
+++ b/src/main/java/frc/robot/commands/ManualShootCommand.java
@@ -24,21 +24,21 @@ public class ManualShootCommand extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(m_controller.getRightTriggerAxis()>.4)
-    {
-      m_subsystem.setLauncher(.6);
-      m_controller.setRumble(RumbleType.kBothRumble, .33);
-    }
-    else if(m_controller.getRightTriggerAxis()>.6)
-    {
-      m_subsystem.setLauncher(.8);
-      m_controller.setRumble(RumbleType.kBothRumble, .67);
-    }
-    else if(m_controller.getRightTriggerAxis()>.8)
+    if(m_controller.getRightTriggerAxis()>.8)
     {
       m_subsystem.setLauncher(1);
       m_controller.setRumble(RumbleType.kBothRumble, 1);
     }
+    else if(m_controller.getRightTriggerAxis()>.5)
+    {
+      m_subsystem.setLauncher(.7);
+      m_controller.setRumble(RumbleType.kBothRumble, .67);
+    }
+    else if(m_controller.getRightTriggerAxis()>.2)
+    {
+      m_subsystem.setLauncher(.5);
+      m_controller.setRumble(RumbleType.kBothRumble, .33);
+    }
     else
     {
       m_subsystem.setLauncher(0);
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 4a70432..7ee12fa 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -61,6 +61,8 @@ public class TurretSubsystem extends TestableSubsystem {
     if(Constants.ShooterConstants.HOOD_SERVO_INVERTED){
       elev=Units.Degrees.of(300).minus(elev);
     }
+    elev=elev.div(1.5);
+    elev=elev.div(Constants.ShooterConstants.DEFLECTOR_SERVO_RATIO);
     hood.setAngle(elev.in(Units.Degrees));
   }