From 850f09114803715e618066775e38459f8b2fa3e9 Mon Sep 17 00:00:00 2001
From: TheRealGreydon <nmunier65@gmail.com>
Date: Tue, 13 Oct 2026 21:35:48 -0400
Subject: [PATCH] Spin

---
 src/main/java/frc/robot/RobotContainer.java               | 2 +-
 src/main/java/frc/robot/commands/UltraShooterCommand.java | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8ef4efa..d600fd4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -53,6 +53,7 @@ public class RobotContainer {
 
         // turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
         turretSubsystem.homeTurret();
+        hopperSubsystem.spindexerOn();
         // Configure the trigger bindings
         configureBindings();
 
@@ -84,7 +85,6 @@ public class RobotContainer {
         // m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
 
         //m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
-        m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
         m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID())));
         m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
         // m_driverController.a().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)));
diff --git a/src/main/java/frc/robot/commands/UltraShooterCommand.java b/src/main/java/frc/robot/commands/UltraShooterCommand.java
index 30affe7..199a76f 100644
--- a/src/main/java/frc/robot/commands/UltraShooterCommand.java
+++ b/src/main/java/frc/robot/commands/UltraShooterCommand.java
@@ -46,7 +46,7 @@ public class UltraShooterCommand extends Command{
     
     @Override
     public void initialize() {
-        hopperSubsystem.spindexerOn();                                      // Activate spindexer so it's on while command is active
+        //hopperSubsystem.spindexerOn();                                      // Activate spindexer so it's on while command is active
         hopperSubsystem.stopKicker();                                       // Make sure kicker is off when command is called
         CommandScheduler.getInstance().schedule(waitCommand);               // Kick off a wait timer so robot doesn't shoot until hopper is ready
         alliance = DriverStation.getAlliance().get();                       // Fetch our alliance
@@ -218,7 +218,7 @@ public class UltraShooterCommand extends Command{
     @Override
     public void end(boolean interrupted) {
         waitCommand.cancel();
-        hopperSubsystem.spindexerOff();
+        //hopperSubsystem.spindexerOff();
         hopperSubsystem.stopKicker();
 
         turretSubsystem.setLauncher(0);