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The indexer moves fuel from the intake staging area into the launcher using two motors: a Feeder that pushes fuel along the exit path, and a Spindexer that spins fuel into the feed zone. Both are wrapped by IndexerSubsystem, which exposes a single runIndexer() command used by the launching sequence.

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Components

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Feeder

Feeder drives a single TalonFX (CAN ID FEEDER_MOTOR_ID = 30) on the CANivore bus (comp bot) or roboRIO bus (alpha bot) using VelocityVoltage control.
ParameterValue
Default target RPS95 RPS
kV11.28 / 92
kP0.5
Stator limit120 A
Supply limit80 A
Neutral modeCoast

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Spindexer

Spindexer drives a single TalonFX (CAN ID SPINDEXER_MOTOR_ID = 31) on the roboRIO bus using VelocityVoltage control.
ParameterValue
Default target RPS70 RPS
Default acceleration1000 rot/s²
kV11.2 / 90.7
kP0.6
Stator limit50 A
Supply limit30 A
Neutral modeCoast

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IndexerSubsystem API

IndexerSubsystem exposes two variants of runIndexer():

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runIndexer() — fixed velocity

Runs both motors at their default configured velocities. 
public Command runIndexer() {
    return Commands.runEnd(
            () -> {
                feeder.runVelocity();
                spindexerSubsystem.runVelocity();
            },
            () -> {
                feeder.stopMotor();
                spindexerSubsystem.stopMotor();
            })
        .withName("Run Indexer");
}

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runIndexer(DoubleSupplier flywheelRPS) — flywheel-matched velocity

Scales feeder and spindexer velocity to match the active flywheel speed for a smooth handoff. The linear equations provide proportional ramping: 
public Command runIndexer(DoubleSupplier flywheelRPS) {
    return Commands.runEnd(
        () -> {
            // Scale feeder and spindexer from flywheel speed for smooth handoff
            double fRPS = flywheelRPS.getAsDouble() * 1.12 + 15;
            double sRPS = Math.min(fRPS * 1.5, 70);
            feeder.setVelocity(fRPS);
            spindexerSubsystem.setVelocity(sRPS);
        },
        () -> {
            feeder.stopMotor();
            spindexerSubsystem.stopMotor();
        });
}
The spindexer is capped at 70 RPS regardless of flywheel speed to prevent over-spinning.

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Launch integration

The indexer is gated behind launcherSubsystem.isAtTarget() in the launching command chain in Controls.java. Fuel is not fed until flywheels, hood, and turret are all within tolerance: 
Commands.waitUntil(() -> s.launcherSubsystem.isAtTarget())
    .andThen(
        Commands.parallel(
            s.indexerSubsystem.runIndexer(() -> s.flywheels.getTargetSpeed()),
            Commands.runOnce(() -> ledsMode = LEDMode.LAUNCH))
        .onlyWhile(() -> s.launcherSubsystem.isAtTarget()))
    .repeatedly()
If the launcher drops out of tolerance mid-cycle (e.g. the robot is bumped), onlyWhile() cancels the indexer automatically and the loop waits for re-acquisition.

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Controller binding

ControllerButtonAction
indexingTestController (port 1)Left triggerwhileTrue(runIndexer()) — runs at fixed default velocity
The indexer only instantiates if both SPINDEXER_ENABLED and FEEDER_ENABLED are true in Subsystems.java. Controls.java checks for null subsystems and logs a warning if either component is disabled, skipping all indexer bindings.

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