From 6a1e4cfb53b2191a5dd6e0953c62c1b3fd04fdf1 Mon Sep 17 00:00:00 2001
From: github-actions <github-actions@github.com>
Date: Wed, 6 May 2026 02:20:30 +0000
Subject: [PATCH] GompeiLib sync (pull) 20260506-022030

---
 lib/.github/workflows/approvalautomation.yaml | 31 ++++++++++++-------
 lib/.github/workflows/build.yaml              |  3 ++
 lib/.github/workflows/lint.yaml               |  3 ++
 .../vision/camera/CameraStaticLimelight.java  | 10 ++++--
 4 files changed, 32 insertions(+), 15 deletions(-)

diff --git a/lib/.github/workflows/approvalautomation.yaml b/lib/.github/workflows/approvalautomation.yaml
index 1e372236..2f1582f3 100644
--- a/lib/.github/workflows/approvalautomation.yaml
+++ b/lib/.github/workflows/approvalautomation.yaml
@@ -28,11 +28,11 @@ jobs:
 
             // Separate bot and human reviews
             const botReviews = reviews
-              .filter(r => r.user.login === '190approvalbot')
+              .filter(r => r.user.login === '190automationbot')
               .sort((a, b) => new Date(b.submitted_at) - new Date(a.submitted_at));
 
             const humanReviews = reviews
-              .filter(r => r.user.login !== '190approvalbot')
+              .filter(r => r.user.login !== '190automationbot')
               .sort((a, b) => new Date(b.submitted_at) - new Date(a.submitted_at));
 
             const latestBotReview = botReviews[0];
@@ -70,16 +70,23 @@ jobs:
 
             } else {
               // Request review from ElliotScher for other authors
-              const alreadyRequested = pr.requested_reviewers.map(r => r.login).includes('ElliotScher');
-              if (!alreadyRequested) {
-                console.log("Requesting review from ElliotScher");
-                await github.rest.pulls.requestReviewers({
-                  owner: context.repo.owner,
-                  repo: context.repo.repo,
-                  pull_number: prNumber,
-                  reviewers: ['ElliotScher']
-                });
+              if (prAuthor !== 'ElliotScher') {
+                const alreadyRequested = pr.requested_reviewers
+                  .map(r => r.login)
+                  .includes('ElliotScher');
+
+                if (!alreadyRequested) {
+                  console.log("Requesting review from ElliotScher");
+                  await github.rest.pulls.requestReviewers({
+                    owner: context.repo.owner,
+                    repo: context.repo.repo,
+                    pull_number: prNumber,
+                    reviewers: ['ElliotScher']
+                  });
+                } else {
+                  console.log("ElliotScher already requested as reviewer");
+                }
               } else {
-                console.log("ElliotScher already requested as reviewer");
+                console.log("Skipping review request because author is ElliotScher");
               }
             }
diff --git a/lib/.github/workflows/build.yaml b/lib/.github/workflows/build.yaml
index cb8474cc..233cfe66 100644
--- a/lib/.github/workflows/build.yaml
+++ b/lib/.github/workflows/build.yaml
@@ -1,6 +1,9 @@
 name: Build
 
 on:
+  push:
+    branches:
+      - main
   pull_request:
 
 jobs:
diff --git a/lib/.github/workflows/lint.yaml b/lib/.github/workflows/lint.yaml
index ec89ee3d..fd3bf548 100644
--- a/lib/.github/workflows/lint.yaml
+++ b/lib/.github/workflows/lint.yaml
@@ -1,6 +1,9 @@
 name: Lint
 
 on:
+  push:
+    branches:
+      - main
   pull_request:
 
 jobs:
diff --git a/lib/src/main/java/edu/wpi/team190/gompeilib/subsystems/vision/camera/CameraStaticLimelight.java b/lib/src/main/java/edu/wpi/team190/gompeilib/subsystems/vision/camera/CameraStaticLimelight.java
index 08af96b6..461ac8b8 100644
--- a/lib/src/main/java/edu/wpi/team190/gompeilib/subsystems/vision/camera/CameraStaticLimelight.java
+++ b/lib/src/main/java/edu/wpi/team190/gompeilib/subsystems/vision/camera/CameraStaticLimelight.java
@@ -89,7 +89,11 @@ public CameraStaticLimelight(
     LimelightHelpers.setRewindEnabled(name, config.enableRewind());
 
     LimelightHelpers.SetIMUMode(name, 1);
-    LimelightHelpers.SetThrottle(name, 190);
+    if (GompeiLib.isTuning()) {
+      LimelightHelpers.SetThrottle(name, 0);
+    } else {
+      LimelightHelpers.SetIMUMode(name, 190);
+    }
 
     wasEnabled = false;
     enabledTimestamp = Timer.getFPGATimestamp();
@@ -123,9 +127,9 @@ public void periodic() {
         wasEnabled = false;
         LimelightHelpers.SetIMUMode(name, 1);
         if (GompeiLib.isTuning()) {
-          LimelightHelpers.SetThrottle(name, 190);
+          LimelightHelpers.SetThrottle(name, 0);
         } else {
-          LimelightHelpers.SetIMUMode(name, 0);
+          LimelightHelpers.SetIMUMode(name, 190);
         }
       }
     }