Made speed faster

Iron-Panthers · Feb 2, 2024 · dc80a77 · dc80a77
1 parent 8ad5f9e
commit dc80a77
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Showing 3 changed files with 10 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -359,16 +359,16 @@ public static final class Colors {
 
   public static final class Intake {
     public static final class Ports{
-        public static final int RIGHT_INTAKE_MOTOR_PORT = 1;
-        public static final int LEFT_INTAKE_MOTOR_PORT = 2;
+        public static final int RIGHT_INTAKE_MOTOR_PORT = 19;
+        public static final int LEFT_INTAKE_MOTOR_PORT = 16;
         public static final int SERIALIZER_MOTOR_PORT = 20;
         public static final int INTAKE_SENSOR_PORT = 3;
     }
 
-    public static final double INTAKE_MOTOR_SPEED = 0.25;
-    public static final double OUTTAKE_MOTOR_SPEED = 0.25;
+    public static final double INTAKE_MOTOR_SPEED = -0.8;
+    public static final double OUTTAKE_MOTOR_SPEED = 0.8;
     public static final double HOLD_MOTOR_SPEED = 0;
 
-    public static final boolean IS_SERIALIZER_INVERTED = true;
+    public static final boolean IS_SERIALIZER_INVERTED = false;
   }
 }
diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java
@@ -39,11 +39,11 @@ public void end(boolean interrupted) {}
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if(intakeMode == IntakeSubsystem.Modes.INTAKE){
-        return intakeSubsystem.getSensorOutput();
-    }else if(intakeMode == IntakeSubsystem.Modes.OUTTAKE){
-        return !intakeSubsystem.getSensorOutput();
-    }
+    // if(intakeMode == IntakeSubsystem.Modes.INTAKE){
+    //     return intakeSubsystem.getSensorOutput();
+    // }else if(intakeMode == IntakeSubsystem.Modes.OUTTAKE){
+    //     return !intakeSubsystem.getSensorOutput();
+    // }
     return true;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -3,7 +3,6 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.subsystems;
-
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;