From d0ac824ba458c35eeb4762a935841adbf4680628 Mon Sep 17 00:00:00 2001
From: Rowan Flood <121908273+rflood07@users.noreply.github.com>
Date: Wed, 20 Mar 2024 21:24:09 -0500
Subject: [PATCH] fixed intake to make it better

---
 src/main/java/frc/robot/settings/Constants.java         | 2 +-
 src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 6 ++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
index 2f40d3ee..7d1b2696 100644
--- 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
index 5b553a46..f311faaf 100644
--- 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