From dc80a77603270a8dba901a062e4a7086044d9513 Mon Sep 17 00:00:00 2001 From: Heggiehog Date: Thu, 1 Feb 2024 18:50:16 -0800 Subject: [PATCH] Made speed faster --- src/main/java/frc/robot/Constants.java | 10 +++++----- src/main/java/frc/robot/commands/IntakeCommand.java | 10 +++++----- .../java/frc/robot/subsystems/IntakeSubsystem.java | 1 - 3 files changed, 10 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 34611b5..b44de44 100644 --- 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 index 5ac0501..a316a5b 100644 --- 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 index b07b6b7..c241870 100644 --- 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;