a

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2a9e1fd4b549c28a7cea6b1d599d6485ec3c086a..0d778f55542c11d85c98f78356ac355d746833d0 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -94,18 +94,18 @@ public class RobotContainer {
         intake = new Intake();
 
       case WaffleHouse: // AKA Betabot
-        turret = new Turret();
-        shooter = new Shooter();
-        hood = new Hood();
+        // turret = new Turret();
+        // shooter = new Shooter();
+        // hood = new Hood();
 
       case SwerveCompetition: // AKA "Vantage"
 
       case BetaBot: // AKA "Pancake"
-        vision = new Vision(VisionConstants.APRIL_TAG_CAMERAS);
+        //vision = new Vision(VisionConstants.APRIL_TAG_CAMERAS);
         // fall-through
 
       case Vivace:
-        linearClimb = new LinearClimb();
+        //linearClimb = new LinearClimb();
 
       case Phil: // AKA "IHOP"
 

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 7600657db4a9e5d6aeeedacdd2b0f1da546a04da..5e3189a02a0dba2348b0a6694dfab2e360a3e2bd 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -194,7 +194,7 @@ public class Intake extends SubsystemBase implements IntakeIO{
         SmartDashboard.putNumber("Roller Velocity", velocity);
 
         if(calibrating){
-            leftMotor.set(-0.1);
+            leftMotor.set(0.1);
             rightMotor.set(-0.1);
         }
 
@@ -359,6 +359,7 @@ public class Intake extends SubsystemBase implements IntakeIO{
         zeroMotors();
         setCurrentLimits(IntakeConstants.EXTENDER_CURRENT_LIMITS);
         retract();
+        
     }
 
     /**