From 86b36a687e0338ed3ae5c6d035fb0f5b7404c27b Mon Sep 17 00:00:00 2001
From: mimigamin <mira.j.maroni@gmail.com>
Date: Mon, 16 Mar 2026 16:13:53 -0600
Subject: [PATCH] Remove indexer velocity

---
 src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java  | 1 -
 .../java/frc4388/robot/subsystems/shooter/ShooterReal.java     | 3 ---
 2 files changed, 4 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
index 4424848..444aeb7 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
@@ -26,7 +26,6 @@ public interface ShooterIO {
 
         AngularVelocity motor1Velocity = RotationsPerSecond.of(0);
         AngularVelocity motor2Velocity = RotationsPerSecond.of(0);
-        AngularVelocity indexerForwardVelocity = RotationsPerSecond.of(0);
         double indexerOutput = 0;
         
         Current motor1Current = Amps.of(0);
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
index f173553..6ca3ce4 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
@@ -87,9 +87,6 @@ public class ShooterReal implements ShooterIO {
     public void setIndexerOutput(ShooterState state, double percentOutput) {
         state.indexerTargetOutput = percentOutput;
         m_indexerMotor.set(percentOutput);
-        if (state.indexerTargetOutput - state.indexerOutput > 0.05){
-            state.indexerForwardVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
-        }
     }