From: Saara21 <113394225+Saara21@users.noreply.github.com>
Date: Mon, 16 Feb 2026 18:37:04 +0000 (-0800)
Subject: update
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=442d90fc35623ce62bae7ad2738492006a440f88;p=FRC2026.git

update
---

diff --git a/src/main/java/frc/robot/constants/IntakeConstants.java b/src/main/java/frc/robot/constants/IntakeConstants.java
index 45966f6..02bc641 100644
--- a/src/main/java/frc/robot/constants/IntakeConstants.java
+++ b/src/main/java/frc/robot/constants/IntakeConstants.java
@@ -16,6 +16,10 @@ public class IntakeConstants {
     public static final double gearRatio = 36.0/12.0;
     /** radius (inches) of the rack gear which is a 10 tooth pinion at 10 DP */
     public static final double radiusRackPinion = 0.5;
+    /** roller current limits */
+    public static final double rCurrentLimits = 10.0;
+    /**right and left motor current limits */
+    public static final double extendCurrentLimits = 40.0;
 
     // Intake positions
 
diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 1be0d55..2e8d8bf 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -5,6 +5,7 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.controls.MotionMagicVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.MotorAlignmentValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 
@@ -74,11 +75,10 @@ public class Intake extends SubsystemBase {
         TalonFXConfiguration rollerConfig = new TalonFXConfiguration();
 
         // config the current limits (low value for testing)
-        // add constant for currentLimits
         rollerConfig.CurrentLimits
-        .withStatorCurrentLimit(40.0)
+        .withStatorCurrentLimit(IntakeConstants.extendCurrentLimits)
         .withStatorCurrentLimitEnable(true)
-        .withSupplyCurrentLimit(40.0)
+        .withSupplyCurrentLimit(IntakeConstants.extendCurrentLimits)
         .withSupplyCurrentLimitEnable(true);
 
         // config Slot 0 PID params
@@ -101,9 +101,9 @@ public class Intake extends SubsystemBase {
 
         // config the current limits (low value for testing)
         config.CurrentLimits
-        .withStatorCurrentLimit(10.0)
+        .withStatorCurrentLimit(IntakeConstants.rCurrentLimits)
         .withStatorCurrentLimitEnable(true)
-        .withSupplyCurrentLimit(10.0)
+        .withSupplyCurrentLimit(IntakeConstants.rCurrentLimits)
         .withSupplyCurrentLimitEnable(true);
 
         // config Slot 0 PID params
@@ -126,7 +126,7 @@ public class Intake extends SubsystemBase {
 
         // apply the configuration to the right motor (master)
         rightMotor.getConfigurator().apply(config);
-
+        
         // apply the configuration to the left motor (slave)
         leftMotor.getConfigurator().apply(config);
 
@@ -148,7 +148,7 @@ public class Intake extends SubsystemBase {
         SmartDashboard.putData("Retract Intake", new InstantCommand(this::retract));
         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(0.5), this));
+        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 Stop", new InstantCommand(() -> this.spin(0.0), this));
         SmartDashboard.putData("Zero Motors", new InstantCommand(this::zeroMotors));
@@ -241,6 +241,7 @@ public class Intake extends SubsystemBase {
     public void setPosition(double setpoint) {
         double motorRotations =inchesToRotations(setpoint);
         rightMotor.setControl(voltageRequest.withPosition(motorRotations));
+
     }
 
     /**
diff --git a/src/main/java/frc/robot/subsystems/indexer/Spindexer.java b/src/main/java/frc/robot/subsystems/indexer/Spindexer.java
deleted file mode 100644
index e5b4276..0000000
--- a/src/main/java/frc/robot/subsystems/indexer/Spindexer.java
+++ /dev/null
@@ -1,39 +0,0 @@
-package frc.robot.subsystems.indexer;
-
-import com.ctre.phoenix6.hardware.TalonFX;
-
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Spindexer extends SubsystemBase {
-    private TalonFX motor;
-
-    public Spindexer(){
-        // TODO: change device id
-        motor = new TalonFX(1);
-
-        // Smartdashboard commands
-        SmartDashboard.putData("Run", new InstantCommand(()-> run()));
-        SmartDashboard.putData("Slow", new InstantCommand(()-> slow()));
-        SmartDashboard.putData("Reverse", new InstantCommand(()-> reverse()));
-        SmartDashboard.putData("Stop", new InstantCommand(()-> stop()));
-        
-    } 
-
-    public void run(){
-        motor.set(1);
-    }
-
-    public void slow(){
-        motor.set(0.6);
-    }
-
-    public void reverse(){
-        motor.set(-1);
-    }
-
-    public void stop(){
-        motor.set(0);
-    }
-}