From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 21 Feb 2026 19:07:02 +0000 (-0800)
Subject: fix calibration
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=2e9696ab7106f46f158c0fc56a144db466ed2444;p=FRC2026.git

fix calibration
---

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0d778f5..90d8395 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -95,8 +95,8 @@ public class RobotContainer {
 
       case WaffleHouse: // AKA Betabot
         // turret = new Turret();
-        // shooter = new Shooter();
-        // hood = new Hood();
+        shooter = new Shooter();
+        hood = new Hood();
 
       case SwerveCompetition: // AKA "Vantage"
 
diff --git a/src/main/java/frc/robot/commands/gpm/ClimbCommand.java b/src/main/java/frc/robot/commands/gpm/ClimbCommand.java
index 932fab9..33047e0 100644
--- a/src/main/java/frc/robot/commands/gpm/ClimbCommand.java
+++ b/src/main/java/frc/robot/commands/gpm/ClimbCommand.java
@@ -18,7 +18,8 @@ public class ClimbCommand extends SequentialCommandGroup{
                 new InstantCommand(() -> climb.goUp()),
                 new DriveToPose(drive, () -> FieldConstants.getClimbLocation())
             ),
-            new InstantCommand(() -> controller.setRumble(GenericHID.RumbleType.kBothRumble, 1.0))
+            // TODO: Make it stop rumbling after like a second
+            new InstantCommand(() -> controller.setRumble(GenericHID.RumbleType.kBothRumble, 1.0)) 
         );
     }
 
diff --git a/src/main/java/frc/robot/constants/IntakeConstants.java b/src/main/java/frc/robot/constants/IntakeConstants.java
index 0cba508..5a7720a 100644
--- a/src/main/java/frc/robot/constants/IntakeConstants.java
+++ b/src/main/java/frc/robot/constants/IntakeConstants.java
@@ -21,9 +21,9 @@ public class IntakeConstants {
 
 
     /** max extension in inches */
-    public static final double MAX_EXTENSION = 10.0; // inches
+    public static final double MAX_EXTENSION = 10.0 - 2.0; // inches
 
-    public static final double INTERMEDIATE_EXTENSION = 5.0; //inches
+    public static final double INTERMEDIATE_EXTENSION = 5.0 - 2.0; //inches
 
     public static final double STOW_EXTENSION = 0.2; // inches
 
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index f4d0bcc..44d7083 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -122,12 +122,19 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                     }));
         }
 
+        // Climb
         if (climb != null) {
+            // Calibration
             driver.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
                 climb.hardstopCalibration();
             })).onFalse(new InstantCommand(() -> {
                 climb.stopCalibrating();
             }));
+
+            // Climb climb
+            driver.get(PS5Button.LEFT_TRIGGER).onTrue(new InstantCommand(()-> {
+                climb.goDown();
+            }));
         }
     }
 
diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 39bb7fc..47f42ca 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -145,14 +145,6 @@ public class Intake extends SubsystemBase implements IntakeIO{
 
         // add some test commands.
         SmartDashboard.putData("Extension Mechanism", mechanism);
-        SmartDashboard.putData("START INTAKE COMMAND", new InstantCommand(()->{
-            extend();
-            spinStart();
-        }));
-        SmartDashboard.putData("END INTAKE COMMAND", new InstantCommand(()->{
-            intermediateExtend();
-            spinStop();
-        }));
 
         if (RobotBase.isSimulation()) {
             // Extender simulation
@@ -356,6 +348,8 @@ public class Intake extends SubsystemBase implements IntakeIO{
      */
     public void stopCalibrating(){
         zeroMotors();
+        leftMotor.set(0);
+        rightMotor.set(0);
         setCurrentLimits(IntakeConstants.EXTENDER_CURRENT_LIMITS);
         calibrating = false;
         retract();
@@ -366,17 +360,14 @@ public class Intake extends SubsystemBase implements IntakeIO{
      * @param limit the current limit for stator and supply current
      */
     public void setCurrentLimits(double limit) {
-        TalonFXConfiguration config = new TalonFXConfiguration();
-
-        config.CurrentLimits = new CurrentLimitsConfigs();
-
-        config.CurrentLimits.StatorCurrentLimitEnable = true;
-        config.CurrentLimits.StatorCurrentLimit = limit;
-        config.CurrentLimits.SupplyCurrentLimitEnable = true;
-        config.CurrentLimits.SupplyCurrentLimit = limit;
+        CurrentLimitsConfigs limits = new CurrentLimitsConfigs()
+        .withStatorCurrentLimitEnable(true)
+        .withStatorCurrentLimit(limit)
+        .withSupplyCurrentLimitEnable(true)
+        .withSupplyCurrentLimit(limit);
 
-        leftMotor.getConfigurator().apply(config);
-        rightMotor.getConfigurator().apply(config);
+        leftMotor.getConfigurator().apply(limits);
+        rightMotor.getConfigurator().apply(limits);
     }
 
     @Override
diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java
index 66aef05..c9ffa10 100644
--- a/src/main/java/frc/robot/subsystems/hood/Hood.java
+++ b/src/main/java/frc/robot/subsystems/hood/Hood.java
@@ -36,7 +36,7 @@ public class Hood extends SubsystemBase implements HoodIO{
 		motor.setNeutralMode(NeutralModeValue.Brake);
 
 		TalonFXConfiguration config = new TalonFXConfiguration();
-		config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+		config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
     
 		config.Slot0.kP = 2.0; 
 		config.Slot0.kS = 0.1; // Static friction compensation