woops

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 76f94bc6b67057dc3a92d7ff1f39ff1379c3e749..c36b8897c627ddc4d5d770843705a06037f54081 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -25,7 +25,7 @@ public class Intake extends SubsystemBase {
     io.updateInputs(inputs);
     Logger.processInputs("Intake", inputs);
 
-    double inchExtension = io.getPosition();
+    double inchExtension = inputs.leftPosition;
 
     if (calibrating) {
       io.setRightMotor(-0.1);

diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
index 037805e5ea40164f8a1df5434af37325ca4aa811..41ee911b3f0b1794237f1ed5e169d0b09a5ab0a2 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
@@ -20,13 +20,6 @@ public interface IntakeIO {
 
   public void updateInputs(IntakeIOInputs inputs);
 
-  /**
-   * Get the intake extender position
-   * 
-   * @return inches
-   */
-  public double getPosition();
-
   /**
    * Set the intake extender position
    * 

diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java
index 062e44ac0a3c69138d8f677805655da564f1571c..c8045adba687f492bcf23668462242cb195aff13 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java
@@ -136,16 +136,6 @@ public class IntakeIOTalonFX implements IntakeIO {
     leftMotor.setControl(voltageRequest.withPosition(motorRotations).withEnableFOC(true));
   }
 
-  /**
-   * Get the intake extender position
-   * 
-   * @return inches
-   */
-  @Override
-  public double getPosition() {
-    return Intake.rotationsToInches(leftMotor.getPosition().getValueAsDouble());
-  }
-
   @Override
   public void setLeftMotor(double speed) {
     leftMotor.set(speed);