fixed intake to make it better

2491-NoMythic · Mar 21, 2024 · d0ac824 · d0ac824
1 parent 3fe17ca
commit d0ac824
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
@@ -265,7 +265,7 @@ public static final class ShooterConstants{
   public static final double HUMAN_PLAYER_ANGLE = 97;
   public static final double HUMAN_PLAYER_RPS = -15;
   public static final double SAFE_SHOOTER_ANGLE = 15;
-  public static final double GROUND_INTAKE_SHOOTER_ANGLE = 90;
+  public static final double GROUND_INTAKE_SHOOTER_ANGLE = 69;
   /**
    * the values used when adjusting the shooter's angle based on our speaker distance. Here's how we calculated them:
    * <p>

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -42,8 +42,7 @@ public IntakeSubsystem() {
     } else {
       m_DistanceSensor = intake2.getAnalog(Mode.kAbsolute);
     }
-    intake2.follow(intake1);
-    intake2.setInverted(false);
+    intake2.setInverted(true);
     intake1.setInverted(true);
     intake1.setIdleMode(IdleMode.kCoast);
     intake2.setIdleMode(IdleMode.kCoast);
@@ -65,6 +64,7 @@ public IntakeSubsystem() {
    */
   public void intakeYes(double intakeRunSpeed) {
     intake1.set(intakeRunSpeed);
+    intake2.set(intakeRunSpeed);
   }
   /**
    * sets the intakes speed
@@ -73,12 +73,14 @@ public void intakeYes(double intakeRunSpeed) {
    */
   public void intakeNo(double intakeRunSpeed) {
     intake1.set(-intakeRunSpeed);
+    intake2.set(-intakeRunSpeed);
   }
   /**
    * sets the intake's power to 0
    */
   public void intakeOff() {
     intake1.set(0);
+    intake2.set(0);
   }
   /**
    * uses the distance sensor inside the indexer to tell if there is a note fully inside the indexer