working

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 61ee5a5ac6f02ea2b8dda707e2174964b044a874..9d45741ddd3ea8c432e0f96a827a003e9c0e69b0 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -114,7 +114,6 @@ public class RobotContainer {
         hood = new Hood();
       
       case TwinBot:
-        break;
 
       case SwerveCompetition: // AKA "Vantage"
 

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 96292241e179317fd2227c5e49e26d053c57bfac..4cb507bfc334bc819b67861edfa94a9984144e48 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -24,8 +24,8 @@ public class FieldConstants {
 
   public static final double RED_BORDER = FIELD_LENGTH/2 + Units.inchesToMeters(167.0);
   public static final double BLUE_BORDER = FIELD_LENGTH/2 - Units.inchesToMeters(167.0);
-  public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.167;
-  public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.833;
+  public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.215;
+  public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.785;
 
   /**The coordinate of the climb position */
   public static final Pose2d BLUE_CLIMB_LOCATION = new Pose2d(1.5, FIELD_WIDTH/2 - 2.0, new Rotation2d()); // TODO: find this

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 5abcbc4fdfa68c8429730f38bd95c947f7d806f6..5847e671645eed6ca19682ce5cae84460a45a1b2 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -127,7 +127,7 @@ public class Intake extends SubsystemBase implements IntakeIO{
         leftMotor.getConfigurator().apply(config);
 
         leftMotor.getConfigurator().apply(
-            new MotorOutputConfigs().withInverted(InvertedValue.CounterClockwise_Positive)
+            new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive)
             .withNeutralMode(NeutralModeValue.Coast)
         );
 
@@ -248,7 +248,7 @@ public class Intake extends SubsystemBase implements IntakeIO{
      * @param setpoint in inches
      */
     public void setPosition(double setpoint) {
-        double motorRotations = inchesToRotations(setpoint);
+        double motorRotations = -inchesToRotations(setpoint);
         rightMotor.setControl(voltageRequest.withPosition(motorRotations));
         leftMotor.setControl(voltageRequest.withPosition(motorRotations));