From acf78b8ccd809560d7a2ea336652e38ea82fc85c Mon Sep 17 00:00:00 2001
From: Bradley Bickford <bradleybickford@gmail.com>
Date: Sun, 22 Feb 2026 13:40:14 -0500
Subject: [PATCH] A little bit more hood stuff, adding a command to trigger the
 rezero functionality

---
 src/main/java/frc/robot/subsystems/Hood.java | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Hood.java b/src/main/java/frc/robot/subsystems/Hood.java
index 327233e..f3e2955 100644
--- a/src/main/java/frc/robot/subsystems/Hood.java
+++ b/src/main/java/frc/robot/subsystems/Hood.java
@@ -68,6 +68,7 @@ public class Hood extends SubsystemBase {
 
     @Override
     public void periodic() {
+        Logger.recordOutput("Hood/OutputCurrent", motor.getOutputCurrent());
         Logger.recordOutput("Hood/CurrentTarget", currentTargetDegrees);
         Logger.recordOutput("Hood/CurrentAngle", encoder.getPosition());
         Logger.recordOutput("Hood/AtSetpoint", controller.isAtSetpoint());
@@ -81,6 +82,14 @@ public class Hood extends SubsystemBase {
         });
     }
 
+    public Command automatedRezero() {
+        return manualSpeed(() -> -1)
+            .until(timerTrigger)
+            .andThen(
+                stop().until(timerTrigger.negate())
+        );
+    }
+
     public Command manualSpeed(DoubleSupplier speed) {
         currentTargetDegrees = 0;