updating

src/main/java/frc/robot/Robot.java

@@ -80,7 +80,7 @@ public Robot() {
       case REAL:
         // Running on a real robot, log to a USB stick ("/U/logs")
         Logger.addDataReceiver(new WPILOGWriter());
-        // Logger.addDataReceiver(new NT4Publisher());
+        Logger.addDataReceiver(new NT4Publisher());
         break;
 
       case SIM:

src/main/java/frc/robot/RobotContainer.java

@@ -397,14 +397,10 @@ private void configureButtonBindings() {
                 .withName("ToggleIntakeDeploy"));
 
     // X Button: hold to spin flywheel at manualFlywheelSpeed (tuning, Choreographer off)
-    /*controller
-    .x()
-    .whileTrue(
-        Commands.parallel(
-                flywheel.runFixedCommand(manualFlywheelSpeed).withName("TuneFlywheelSpin"),
-                kicker.runCommand())
-            .withName("TuneFlywheelAndKicker"))
-    .onFalse(Commands.parallel(flywheel.stopCommand(), kicker.stopCommand()));*/
+    controller
+        .x()
+        .onTrue(choreographer.setGoalCommand(Choreographer.Goal.REVERSE_INDEXER))
+        .onFalse(choreographer.setGoalCommand(Choreographer.Goal.IDLE));
 
     // Y Button: hold to move hood to manualHoodAngle (tuning, Choreographer off)
     controller

src/main/java/frc/robot/generated/TunerConstants.java

@@ -57,7 +57,7 @@ public class TunerConstants {
 
   // The stator current at which the wheels start to slip;
   // This needs to be tuned to your individual robot
-  private static final Current kSlipCurrent = Amps.of(100);
+  private static final Current kSlipCurrent = Amps.of(80);
 
   // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
   // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
@@ -97,8 +97,8 @@ public class TunerConstants {
   private static final int kPigeonId = 13;
 
   // These are only used for simulation
-  private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
-  private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
+  private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.004);
+  private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.025);
   // Simulated voltage necessary to overcome friction
   private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
   private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);

src/main/java/frc/robot/subsystems/Choreographer.java

@@ -35,7 +35,8 @@ public enum Goal {
     INTAKE,
     SCORE_HUB,
     CLIMB_EXTEND,
-    CLIMB_RETRACT
+    CLIMB_RETRACT,
+    REVERSE_INDEXER
   }
 
   public enum State {
@@ -45,7 +46,8 @@ public enum State {
     WAITING_FOR_ALIGNMENT,
     SHOOTING,
     CLIMB_EXTENDING,
-    CLIMB_RETRACTING
+    CLIMB_RETRACTING,
+    REVERSING_INDEXER
   }
 
   @Getter
@@ -119,6 +121,7 @@ public void periodic() {
       case SCORE_HUB -> handleScoreHub();
       case CLIMB_EXTEND -> handleClimb(State.CLIMB_EXTENDING);
       case CLIMB_RETRACT -> handleClimb(State.CLIMB_RETRACTING);
+      case REVERSE_INDEXER -> handleReverseIndexer();
     }
 
     logOutputs();
@@ -132,6 +135,15 @@ private void handleIdle() {
     currentState = State.IDLE;
   }
 
+  private void handleReverseIndexer() {
+    flywheel.stop();
+    hood.stow();
+    indexer.runReversed();
+    kicker.stop();
+
+    currentState = State.REVERSING_INDEXER;
+  }
+
   private void handleIntake() {
     flywheel.stop();
     hood.stow();

src/main/java/frc/robot/subsystems/indexer/Indexer.java

@@ -163,6 +163,11 @@ public void run() {
     running = true;
   }
 
+  public void runReversed() {
+    running = true;
+    reversing = true;
+  }
+
   /** Run the indexer at a custom voltage (bypasses stall detection). */
   public void runVolts(double volts) {
     running = true;
@@ -183,6 +188,10 @@ public Command runCommand() {
     return runEnd(this::run, this::stop).withName("Indexer.run");
   }
 
+  public Command runReversedCommand() {
+    return runEnd(this::runReversed, this::stop).withName("Indexer.runReversed");
+  }
+
   /** Command to stop the indexer. */
   public Command stopCommand() {
     return runOnce(this::stop).withName("Indexer.stop");

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -48,7 +48,7 @@ public class Intake extends FullSubsystem {
   private static final LoggedTunableNumber toleranceDeg =
       new LoggedTunableNumber("IntakePivot/ToleranceDeg");
   private static final LoggedTunableNumber runVolts =
-      new LoggedTunableNumber("IntakeRollers/RunVolts", 5.5);
+      new LoggedTunableNumber("IntakeRollers/RunVolts", 7.25);
   private static final LoggedTunableNumber homingRollerReverseVolts =
       new LoggedTunableNumber("Intake/Homing/RollerReverseVolts", -2.0);
   private static final LoggedTunableNumber homingPulseOnSec =

src/main/java/frc/robot/subsystems/shooter/ShotCalculator.java

@@ -163,7 +163,7 @@ public static record LaunchPreset(
 
   static {
     minDistance = 1.969;
-    maxDistance = 5;
+    maxDistance = 6;
     phaseDelay = 0.03;
     passingMinDistance = 5.4;
     passingMaxDistance = 17.16;

src/main/java/frc/robot/subsystems/shooter/flywheel/Flywheel.java

@@ -73,7 +73,7 @@ public enum ControlMode {
   static {
     switch (Constants.getMode()) {
       case REAL, REPLAY -> {
-        voltageKP.initDefault(0.1);
+        voltageKP.initDefault(.7);
         voltageKD.initDefault(0.0);
         voltageKS.initDefault(0.23013);
         voltageKV.initDefault(0.12021);

src/main/java/frc/robot/subsystems/shooter/flywheel/FlywheelIOTalonFX.java

@@ -63,12 +63,12 @@ public FlywheelIOTalonFX() {
     config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
     config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
     config.Feedback.SensorToMechanismRatio = 1.0;
-    config.CurrentLimits.SupplyCurrentLimit = 80.0;
+    config.CurrentLimits.SupplyCurrentLimit = 45.0;
     config.CurrentLimits.SupplyCurrentLimitEnable = true;
 
     var followerConfig = new TalonFXConfiguration();
     followerConfig.MotorOutput.NeutralMode = NeutralModeValue.Coast;
-    followerConfig.CurrentLimits.SupplyCurrentLimit = 80.0;
+    followerConfig.CurrentLimits.SupplyCurrentLimit = 45.0;
     followerConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
 
     PhoenixUtil.tryUntilOk(5, () -> talon.getConfigurator().apply(config));