From 313608541b0b2f99a0fca41685dd9e3685eca7b3 Mon Sep 17 00:00:00 2001
From: SCool62 <samthecool300@icloud.com>
Date: Sat, 7 Feb 2026 17:17:47 -0800
Subject: [PATCH 1/2] Zero on startup

---
 src/main/java/frc/robot/Robot.java | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index dbedcf8..cbc419f 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -184,6 +184,8 @@ public enum RobotEdition {
   @AutoLogOutput boolean haveAutosGenerated = false;
   private final LoggedDashboardChooser<Command> autoChooser = new LoggedDashboardChooser<>("Autos");
 
+  @AutoLogOutput(key = "Shooter/Hood/Has Zeroed") private boolean hoodZeroed = false;
+
   // temporarily override map with empty map to avoid collisions with reefscape elements
   // unfortunately this also turns off collisions with walls but that's fine
   // TODO update once rebuilt is added to maplesim
@@ -528,7 +530,16 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
     // TODO add binding for climb
 
     // current zero shooter hood
-    driver.b().whileTrue(shooter.runCurrentZeroing());
+    new Trigger(() -> !hoodZeroed)
+      .or(driver.b())
+      .whileTrue(shooter.runCurrentZeroing().finallyDo(interrupted -> {
+        if (!interrupted) {
+          hoodZeroed = true;
+        }
+        else {
+          hoodZeroed = false;
+        }
+      }));
 
     new Trigger(() -> intake.beambreak()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.5));
 

From 49ed8414da57f6143faf6b033c9f0e8a09d1c6e0 Mon Sep 17 00:00:00 2001
From: SCool62 <samthecool300@icloud.com>
Date: Sat, 7 Feb 2026 22:03:42 -0800
Subject: [PATCH 2/2] Spotless

---
 src/main/java/frc/robot/Robot.java | 24 ++++++++++++++----------
 1 file changed, 14 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index cbc419f..f198faa 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -184,7 +184,8 @@ public enum RobotEdition {
   @AutoLogOutput boolean haveAutosGenerated = false;
   private final LoggedDashboardChooser<Command> autoChooser = new LoggedDashboardChooser<>("Autos");
 
-  @AutoLogOutput(key = "Shooter/Hood/Has Zeroed") private boolean hoodZeroed = false;
+  @AutoLogOutput(key = "Shooter/Hood/Has Zeroed")
+  private boolean hoodZeroed = false;
 
   // temporarily override map with empty map to avoid collisions with reefscape elements
   // unfortunately this also turns off collisions with walls but that's fine
@@ -531,15 +532,18 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
 
     // current zero shooter hood
     new Trigger(() -> !hoodZeroed)
-      .or(driver.b())
-      .whileTrue(shooter.runCurrentZeroing().finallyDo(interrupted -> {
-        if (!interrupted) {
-          hoodZeroed = true;
-        }
-        else {
-          hoodZeroed = false;
-        }
-      }));
+        .or(driver.b())
+        .whileTrue(
+            shooter
+                .runCurrentZeroing()
+                .finallyDo(
+                    interrupted -> {
+                      if (!interrupted) {
+                        hoodZeroed = true;
+                      } else {
+                        hoodZeroed = false;
+                      }
+                    }));
 
     new Trigger(() -> intake.beambreak()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.5));