updated

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index b58bd40fcd4b54d910c703bf7cefdcc7f78e7981..113ebb5dd6dba7b001d4cbd8461aefb099d9eada 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -5,6 +5,7 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.controls.MotionMagicVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.MotorAlignmentValue;
 import com.ctre.phoenix6.signals.MotorArrangementValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.revrobotics.spark.config.SparkMaxConfig;
@@ -19,7 +20,6 @@ public class Intake extends SubsystemBase {
     final int rightID = 1;
     final int leftID = 2;
     final int rollerID = 3;
-    final String canBus = "CANivoreSub";
 
     private TalonFX rollerMotor; 
     private TalonFX rightMotor; //leader
@@ -31,27 +31,42 @@ public class Intake extends SubsystemBase {
 
     public Intake() {
        // set actual IDs
-        rightMotor = new TalonFX(rightID, canBus);
-        leftMotor = new TalonFX(leftID, canBus);
-        rollerMotor = new TalonFX(rollerID, canBus); 
-        TalonFXConfiguration config = new TalonFXConfiguration();
-        var slot0Configs = config.Slot0;
+        rightMotor = new TalonFX(rightID);
+        leftMotor = new TalonFX(leftID);
+        rollerMotor = new TalonFX(rollerID); 
+
+        // right motor configs
+        TalonFXConfiguration rightConfig = new TalonFXConfiguration();
+        var slot0RightConfigs = rightConfig.Slot0;
         //find values later
         //friction, maybe?
-        slot0Configs.kP = 0;
-        slot0Configs.kI = 0;
-        slot0Configs.kD = 0;
-        slot0Configs.kV = 0;
-        slot0Configs.kA = 0;
+        slot0RightConfigs.kP = 0;
+        slot0RightConfigs.kI = 0;
+        slot0RightConfigs.kD = 0;
+        slot0RightConfigs.kV = 0;
+        slot0RightConfigs.kA = 0;
+
+        // left motor configs
+        TalonFXConfiguration leftConfig = new TalonFXConfiguration();
+        var slot0LeftConfigs = leftConfig.Slot0;
+
+        slot0LeftConfigs.kP = 0;
+        slot0LeftConfigs.kI = 0;
+        slot0LeftConfigs.kD = 0;
+        slot0LeftConfigs.kV = 0;
+        slot0LeftConfigs.kA = 0;
+
 
         rightMotor.getConfigurator().apply(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake));
-        rightMotor.getConfigurator().apply(config);
+        rightMotor.getConfigurator().apply(rightConfig);
 
-        leftMotor.getConfigurator().apply(config);
         leftMotor.getConfigurator().apply(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake));
+        leftMotor.getConfigurator().apply(leftConfig);
+
 
-        Follower follower = new Follower(rightMotor.getDeviceID(), true);
-        leftMotor.setControl(new Follower(rightMotor.getDeviceID(), true));
+        //Follower follower = new Follower(rightMotor.getDeviceID(), true);
+        leftMotor.setControl(new Follower(rightMotor.getDeviceID(), MotorAlignmentValue.Opposed));
+        
 
         SmartDashboard.putData("Extend Intake", new InstantCommand(() -> extend()));
         SmartDashboard.putData("Retract Intake", new InstantCommand(() -> retract()));

diff --git a/vendordeps/Phoenix6-frc2026-latest.json b/vendordeps/Phoenix6-frc2026-latest.json
index 8f6e30f4a6a25899060ebfb22e5523402a7997a5..d6cf160ba147f134ea15308e3a1c294b4fb49826 100644 (file)
--- a/vendordeps/Phoenix6-frc2026-latest.json
+++ b/vendordeps/Phoenix6-frc2026-latest.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix6-frc2026-latest.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "26.1.0",
+    "version": "26.1.1",
     "frcYear": "2026",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.1.0"
+            "version": "26.1.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -224,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -240,7 +240,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +256,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.1.1",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,