Code cleanup

lasarobotics · Jan 11, 2024 · 4a1028a · 4a1028a
1 parent 8e057d7
commit 4a1028a
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -113,7 +113,7 @@ public static class VisionHardware {
   }
 
   public static class IntakeHardware {
-    public static final Spark.ID ROLLER_MOTOR_ID = new Spark.ID("IntakeHardware/RollerMotor", 10);
+    public static final Spark.ID ROLLER_MOTOR_ID = new Spark.ID("IntakeHardware/Roller", 10);
   }
 
   public static class SmartDashboard {

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
@@ -49,23 +49,23 @@ private void intake(double speed) {
     m_rollerMotor.set(speed, ControlType.kDutyCycle, 0.0, ArbFFUnits.kPercentOut);
   }
 
-  public Command intakeCommand(DoubleSupplier speed) {
-    return startEnd(() -> intake(speed.getAsDouble()), () -> stop());
-  }
-
   // Tells the robot to outtake
   private void outtake(double speed) {
     m_rollerMotor.set(-speed, ControlType.kDutyCycle, 0.0, ArbFFUnits.kPercentOut);
   }
 
-  public Command outtakeCommand(DoubleSupplier speed) {
-    return startEnd(() -> outtake(speed.getAsDouble()), () -> stop());
-  }
-
   // Stop the robot
   private void stop() {
     m_rollerMotor.stopMotor();;
   }
+
+  public Command intakeCommand(DoubleSupplier speed) {
+    return startEnd(() -> intake(speed.getAsDouble()), () -> stop());
+  }
+
+  public Command outtakeCommand(DoubleSupplier speed) {
+    return startEnd(() -> outtake(speed.getAsDouble()), () -> stop());
+  }
 
   @Override
   public void periodic() {