From 99fe2ecfbb31bea9e5e8e070ad1280015b21efc4 Mon Sep 17 00:00:00 2001
From: Team578 Driver Station <leadmentor@fairportrobotics.org>
Date: Mon, 13 Apr 2026 18:20:19 -0400
Subject: [PATCH] Commiting changes from saturday

---
 src/main/java/frc/robot/RobotContainer.java           |  4 ++--
 .../robot/commands/AutoShootCommandChassisTurret.java |  2 +-
 .../java/frc/robot/subsystems/HopperSubsystem.java    | 11 ++++++-----
 .../java/frc/robot/subsystems/TurretSubsystem.java    |  4 ++--
 4 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c473612..affa113 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -80,10 +80,10 @@ public class RobotContainer {
         // m_driverController:wa.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
 
         m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
-        m_driverController.rightBumper().onTrue(intakeSubsystem.intake());
+        m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake()));
         m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
         m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
-        m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
+        m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
         m_driverController.b().toggleOnTrue(new ZoneCheck(driveSubsystem));
     }
 
diff --git a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
index 0b6d64d..8ba867b 100644
--- a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
+++ b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
@@ -75,7 +75,7 @@ public class AutoShootCommandChassisTurret extends Command{
             }
         });
 
-        turretSubsystem.setLauncher(6000);
+        turretSubsystem.setLauncher(3000);
         turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
         hopperSubsystem.spindexerOn();
         cameraAutoCenterController.calculate(-100);
diff --git a/src/main/java/frc/robot/subsystems/HopperSubsystem.java b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
index e8e4e53..8097181 100644
--- a/src/main/java/frc/robot/subsystems/HopperSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
@@ -19,6 +19,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.units.AngularVelocityUnit;
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.wpilibj2.command.Command;
 
 import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
 import frc.robot.Constants;
@@ -64,16 +65,16 @@ public class HopperSubsystem extends TestableSubsystem {
   } 
 
   public void feedKicker() {
-    kickerMotor.setControl(kickerControl.withVelocity(1000));
-    // kickerMotor.set(0.75);
+    //kickerMotor.setControl(kickerControl.withVelocity(1000));
+    kickerMotor.set(0.75);
   }
 
   public void reverseKicker() {
-    kickerMotor.setControl(kickerControl.withVelocity(-500));
-    // kickerMotor.set(-0.5);
+    //kickerMotor.setControl(kickerControl.withVelocity(-500));
+    kickerMotor.set(-0.5);
   } 
 
-  public void stopKicker() {kickerMotor.stopMotor();}
+ public void stopKicker() {kickerMotor.stopMotor();}
 
   public void spindexerOn() { spindexerMotor.set(0.75);}
 
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 3391db5..9b5e753 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -104,8 +104,8 @@ public class TurretSubsystem extends TestableSubsystem {
     SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
     config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
     config.voltageCompensation(10);
-    config.closedLoop.p(0.0001).i(0).d(0.0); // I = 0.0000001
-    config.closedLoop.feedForward.kS(0.2).kV(0.002).kA(0.00);
+    config.closedLoop.p(0.0002).i(0.000001).d(0.0005); // I = 0.0000001
+    config.closedLoop.feedForward.kS(0.2).kV(0.000).kA(0.000);
     // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
     config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
     config.closedLoop.positionWrappingEnabled(false);