idoaijdoiaj

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index a65a01dfb373095c7df81c5e005143afb0f37c96..b67f93133cbc426e61b96fea38a6e695cb18fbf0 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -201,6 +201,7 @@ public class Superstructure extends Command {
     }
 
     @Override
+
     public void execute() {
         TOFAdjustment = SmartDashboard.getNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
         SmartDashboard.putNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
@@ -229,13 +230,10 @@ public class Superstructure extends Command {
             hood.setFieldRelativeTarget(Rotation2d.fromDegrees(ShotInterpolation.newHoodMap.get(distanceFromTarget)), hoodVelocity);
             double x = drivepose.getX(); // compared as meters
             double y = drivepose.getY();
-            System.out.println("X: " + Units.metersToInches(x) + "Y: " + Units.metersToInches(y));
             if (FieldConstants.underTrench(x, y)) {
                 hood.forceHoodDown(true);
-                System.out.println("Hood forced down");
             } else {
                 hood.forceHoodDown(false);
-                System.out.println("Hood forced up");
             }
             shooter.setShooter(-ShotInterpolation.shooterVelocityMap.get(distanceFromTarget));
             Logger.recordOutput("Distance From Target", distanceFromTarget);

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 7904f3bf3268404917c9ba2fdb47a80643e3c0bd..35ae9121ccc09a33df0eb666aacb51095a99da31 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -239,7 +239,7 @@ 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));
 

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index f6817c71b4783d2079a911d0ce43705ed34c4bae..64177daeb3626d8915bcc8690c66cad977b7e2de 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -208,9 +208,9 @@ public class Turret extends SubsystemBase implements TurretIO{
                        }
                } else {
                        // Sets motor control with feedforward
-                       motor.setControl(mmVoltageRequest
-                       .withPosition(motorGoalRotations)
-                       .withFeedForward(robotTurnCompensation));
+                       // motor.setControl(mmVoltageRequest
+                       // .withPosition(motorGoalRotations)
+                       // .withFeedForward(robotTurnCompensation));
                }
 
         Logger.recordOutput("Turret/Voltage", motor.getMotorVoltage().getValue());