From f66ea4a188f2d33a94085c1d011bb356071cb339 Mon Sep 17 00:00:00 2001
From: OnDYCLaptop <dingdoorfiah@gamil.com>
Date: Wed, 11 Mar 2026 01:13:40 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E8=87=AA=E5=8A=A8=E7=AA=81?=
 =?UTF-8?q?=E7=84=B6=E7=BB=88=E6=AD=A2=20=E7=94=B5=E6=9C=BA=E9=80=9F?=
 =?UTF-8?q?=E5=BA=A6=E5=8F=82=E6=95=B0=E4=BB=8D=E5=AD=98=E5=9C=A8=E7=9A=84?=
 =?UTF-8?q?bug?=
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---
 src/main/java/frc/robot/Robot.java                       | 8 +++++++-
 src/main/java/frc/robot/subsystems/ClimberSubsystem.java | 4 ++++
 src/main/java/frc/robot/subsystems/IntakerSubsystem.java | 4 ++++
 src/main/java/frc/robot/subsystems/ShooterSubsystem.java | 5 +++++
 4 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 9e32324..3510e8b 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -8,6 +8,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.subsystems.ShooterSubsystem;
 
 public class Robot extends TimedRobot {
     private Command m_autonomousCommand;
@@ -26,7 +27,12 @@ public class Robot extends TimedRobot {
     }
 
     @Override
-    public void disabledInit() {}
+    public void disabledInit() {
+        System.out.println("Robot disabledInit called");
+        m_robotContainer.shooterSubsystem.stopAll();
+        m_robotContainer.climberSubsystem.stopAll();
+        m_robotContainer.IntakerSubsystem.stopAll();
+    }
 
     @Override
     public void disabledPeriodic() {}
diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
index c50d994..f65ab12 100644
--- a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
@@ -126,6 +126,10 @@ public class ClimberSubsystem extends SubsystemBase {
         autoClimbUsedInAuto = false;
     }
 
+    public void stopAll() {
+        climberMotor.set(0);
+    }
+
     @Override
     public void periodic() {
         climberTable.getEntry("velocityRps").setDouble(getVelocityRps());
diff --git a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
index f1603fd..7a77f9b 100644
--- a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
@@ -106,4 +106,8 @@ public class IntakerSubsystem extends SubsystemBase{
     public void setIntakerRotater(double rotaterspeed){
         intakerotater.set(rotaterspeed);
     }
+    public void stopAll() {
+        stopIntakerotater();
+        setIntakerGetterSpeed(0);
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index a059a36..9a75144 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -185,4 +185,9 @@ public class ShooterSubsystem extends SubsystemBase {
     public double getDistanceToPassball(){
         return NetworkTableInstance.getDefault().getTable("AutoControl").getEntry("distanceToPassball").getDouble(0.0);
     }
+    public void stopAll() {
+        setFlywheelSpeedByRPS(0);
+        setConveyorSpeedByRPS(0);
+        backboardMotor.set(0);
+    }
 }