in execute now

2491-NoMythic · Mar 28, 2024 · 9ed5ec8 · 9ed5ec8
1 parent a606284
commit 9ed5ec8
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/commands/GroundIntake.java b/src/main/java/frc/robot/commands/GroundIntake.java
@@ -27,19 +27,19 @@ public GroundIntake(IntakeSubsystem intake, IndexerSubsystem indexer, Drivetrain
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
     double robotSpeed = Math.sqrt(Math.pow(driveTrain.getChassisSpeeds().vxMetersPerSecond, 2) + Math.pow(driveTrain.getChassisSpeeds().vyMetersPerSecond, 2));
     double rollerSpeed = (IntakeConstants.INTAKE_SPEED - (0.25 * IntakeConstants.INTAKE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.25 * IntakeConstants.INTAKE_SPEED);
-    double sideSpeed =  (IntakeConstants.INTAKE_SIDE_SPEED - (0.25 * IntakeConstants.INTAKE_SIDE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.25 * IntakeConstants.INTAKE_SIDE_SPEED);
-    double indexerSpeed = (IndexerConstants.INDEXER_INTAKE_SPEED- (0.25 * IndexerConstants.INDEXER_INTAKE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.25 * IndexerConstants.INDEXER_INTAKE_SPEED);
+    double sideSpeed =  (IntakeConstants.INTAKE_SIDE_SPEED - (0.25 * IntakeConstants.INTAKE_SIDE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.75 * IntakeConstants.INTAKE_SIDE_SPEED);
+    double indexerSpeed = (IndexerConstants.INDEXER_INTAKE_SPEED- (0.25 * IndexerConstants.INDEXER_INTAKE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.75 * IndexerConstants.INDEXER_INTAKE_SPEED);
     intake.intakeYes(rollerSpeed, sideSpeed);
     indexer.set(indexerSpeed);
   }
 
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {

diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
@@ -327,7 +327,7 @@ public static final class ClimberConstants{
 public static final class IndexerConstants{
   public static final int INDEXER_MOTOR = 11;
   public static final int CURRENT_LIMIT = 50;
-  public static final double INDEXER_INTAKE_SPEED = 0.3229 / 2;//ground intake
+  public static final double INDEXER_INTAKE_SPEED = 0.3229 ;//ground intake
   public static final double HUMAN_PLAYER_INDEXER_SPEED = -0.5;//should be 0.5 TODO change to positive
   public static final double INDEXER_SHOOTING_RPS = 90;
   public static final double INDEXER_SHOOTING_POWER = 1;
@@ -358,8 +358,8 @@ public static final class IntakeConstants{
   public static final int BRUSH_2_MOTOR = 2491;
   public static final int BRUSH_3_MOTOR = 2491;
     /** the desired speed for the intake when doing ground intake. In Percent-of-full-power, from -1 to 1 */
-  public static final double INTAKE_SPEED = 0.2086 / 2;
-  public static final double INTAKE_SIDE_SPEED = 0.1564 / 2;
+  public static final double INTAKE_SPEED = 0.2086 ;
+  public static final double INTAKE_SIDE_SPEED = 0.1564;
 }
 public static final class CTREConfigs {
   public TalonFXConfiguration driveMotorConfig;