Changes due to testing

diff --git a/src/main/java/frc/robot/constants/IntakeConstants.java b/src/main/java/frc/robot/constants/IntakeConstants.java
index db1765215c26824dddebaa11c23ef241a224f6f2..c69c76c46857144c1c957d12cf9e56e71c8cdc1d 100644 (file)
--- a/src/main/java/frc/robot/constants/IntakeConstants.java
+++ b/src/main/java/frc/robot/constants/IntakeConstants.java
@@ -4,13 +4,13 @@ import edu.wpi.first.math.util.Units;
 
 public class IntakeConstants {
     /** Intake roller motor speed in range [-1, 1] */
-    public static final double SPEED = 0.2;
+    public static final double SPEED = 0.8;
     /** 12 tooth pinion driving 36 tooth driven gear */
     public static final double GEAR_RATIO = 36.0/12.0;
     /** radius (inches) of the rack gear which is a 10 tooth pinion at 10 DP */
     public static final double RADIUS_RACK_PINION = 0.5;
     /** roller current limits */
-    public static final double ROLLER_CURRENT_LIMITS = 10.0;
+    public static final double ROLLER_CURRENT_LIMITS = 40.0;
     /**right and left motor current limits */
     public static final double EXTENDER_CURRENT_LIMITS = 40.0;
 
@@ -22,7 +22,7 @@ public class IntakeConstants {
 
 
     /** max extension in inches */
-    public static final double MAX_EXTENSION = 3.0; // 14.856; 
+    public static final double MAX_EXTENSION = 10.0; // 14.856; 
     /** starting point in inches */
     public static final double STARTING_POINT = 0;
     /** rack pitch in teeth per inch of diameter (Diametral Pitch) DP = N teeth / Diameter in inches */

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index bee1dc8a6637107dd3832c3600a7b87b9a7b7ad7..a8ead351b95d4ed65521bfe04101eacaa32c520f 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -125,6 +125,7 @@ public class Intake extends SubsystemBase {
         // apply the configuration to the right motor (master)
         rightMotor.getConfigurator().apply(config);
 
+        //left motor is weaker
         // apply the configuration to the left motor (slave)
         leftMotor.getConfigurator().apply(config);
 
@@ -147,7 +148,7 @@ public class Intake extends SubsystemBase {
         SmartDashboard.putData("Intake On", new InstantCommand(this::spinStart));
         SmartDashboard.putData("Intake Off", new InstantCommand(this::spinStop));
         SmartDashboard.putData("Roller Spin Forward",  new InstantCommand(() -> this.spin(0.8), this));
-        SmartDashboard.putData("Roller Spin Reverse", new InstantCommand(() -> this.spin(-0.5), this));
+        SmartDashboard.putData("Roller Spin Reverse", new InstantCommand(() -> this.spin(-0.8), this));
         SmartDashboard.putData("Roller Stop", new InstantCommand(() -> this.spin(0.0), this));
         SmartDashboard.putData("Zero Motors", new InstantCommand(this::zeroMotors));