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index code done #6

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index code done #6

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2 changes: 1 addition & 1 deletion ThriftTsConfig
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Submodule ThriftTsConfig updated from fec640 to f06518
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/command/testing/IndexCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,12 +15,12 @@ public IndexCommand(IndexSubsystem baseSubsystem, double speed) {

@Override
public void execute() {
m_indexSubsystem.runMotor(m_speed);
m_indexSubsystem.runMotors(m_speed);
}

@Override
public void end(boolean interrupted) {
m_indexSubsystem.stopMotor();
m_indexSubsystem.stopMotors();
}

@Override
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4 changes: 4 additions & 0 deletions src/main/java/frc/robot/constant/IndexConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,4 +3,8 @@
public class IndexConstants {
public static final int indexMotorID = 36;
public static final double indexMotorSpeed = 0.45;
public static final boolean indexMotorInverted = false;
public static final int feedMotorID = 0;
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Copilot AI Feb 23, 2026

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CAN device IDs for Spark Flex controllers are expected to be in the valid CAN ID range (commonly 1–63). Using 0 is typically invalid and will prevent the feed motor from being addressed correctly. Set feedMotorID to the actual configured CAN ID for the feed SparkFlex.

Suggested change
public static final int feedMotorID = 0;
public static final int feedMotorID = 37;

Copilot uses AI. Check for mistakes.
public static final double feedMotorSpeed = 0;
public static final boolean feedMotorInverted = false;
}
25 changes: 17 additions & 8 deletions src/main/java/frc/robot/subsystem/IndexSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ public class IndexSubsystem extends SubsystemBase {
private static IndexSubsystem instance;

private final SparkFlex m_indexMotor;
private final SparkFlex m_feedMotor;

public static IndexSubsystem GetInstance() {
if (instance == null) {
Expand All @@ -25,22 +26,30 @@ public static IndexSubsystem GetInstance() {

private IndexSubsystem() {
m_indexMotor = new SparkFlex(IndexConstants.indexMotorID, MotorType.kBrushless);
configureMotor();
m_feedMotor = new SparkFlex(IndexConstants.feedMotorID, MotorType.kBrushless);
configureMotors();
}

private void configureMotor() {
SparkFlexConfig config = new SparkFlexConfig();
config.idleMode(IdleMode.kBrake);
config.inverted(true);
private void configureMotors() {
SparkFlexConfig indexConfig = new SparkFlexConfig();
indexConfig.idleMode(IdleMode.kBrake);
indexConfig.inverted(IndexConstants.indexMotorInverted);

m_indexMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
SparkFlexConfig feedConfig = new SparkFlexConfig();
feedConfig.idleMode(IdleMode.kBrake);
feedConfig.inverted(IndexConstants.feedMotorInverted);

m_indexMotor.configure(indexConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
m_feedMotor.configure(feedConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
}

public void runMotor(double speed) {
public void runMotors(double speed) {
m_indexMotor.set(MathUtil.clamp(speed, -1.0, 1.0));
m_feedMotor.set(MathUtil.clamp(speed, -1.0, 1.0));
}

public void stopMotor() {
public void stopMotors() {
m_indexMotor.set(0.0);
m_feedMotor.set(0.0);
}
}
2 changes: 1 addition & 1 deletion src/proto
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Submodule proto updated 17 files
+1 −1 Inference.proto
+1 −1 autobahn/message.proto
+1 −1 pathing/pathfind.proto
+1 −1 replay/replay.proto
+1 −3 sensor/apriltags.proto
+1 −1 sensor/camera_sensor.proto
+1 −4 sensor/general_sensor_data.proto
+1 −1 sensor/imu.proto
+0 −23 sensor/inference.proto
+1 −1 sensor/lidar.proto
+1 −1 sensor/odometry.proto
+1 −1 status/CameraStatus.proto
+0 −10 status/Frontend.proto
+1 −1 status/PiStatus.proto
+1 −1 status/StateLogging.proto
+1 −7 util/position.proto
+1 −1 util/vector.proto
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