From 2cb621ba2eaa4c7430f265fb049a02f5a245e9a0 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Sun, 29 Mar 2026 11:08:24 -0700 Subject: [PATCH] working --- src/main/java/frc/robot/RobotContainer.java | 1 - src/main/java/frc/robot/constants/FieldConstants.java | 4 ++-- src/main/java/frc/robot/subsystems/Intake/Intake.java | 4 ++-- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 61ee5a5..9d45741 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -114,7 +114,6 @@ public class RobotContainer { hood = new Hood(); case TwinBot: - break; case SwerveCompetition: // AKA "Vantage" diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index 9629224..4cb507b 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -24,8 +24,8 @@ public class FieldConstants { public static final double RED_BORDER = FIELD_LENGTH/2 + Units.inchesToMeters(167.0); public static final double BLUE_BORDER = FIELD_LENGTH/2 - Units.inchesToMeters(167.0); - public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.167; - public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.833; + public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.215; + public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.785; /**The coordinate of the climb position */ public static final Pose2d BLUE_CLIMB_LOCATION = new Pose2d(1.5, FIELD_WIDTH/2 - 2.0, new Rotation2d()); // TODO: find this diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index 5abcbc4..5847e67 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -127,7 +127,7 @@ public class Intake extends SubsystemBase implements IntakeIO{ leftMotor.getConfigurator().apply(config); leftMotor.getConfigurator().apply( - new MotorOutputConfigs().withInverted(InvertedValue.CounterClockwise_Positive) + new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive) .withNeutralMode(NeutralModeValue.Coast) ); @@ -248,7 +248,7 @@ 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)); -- 2.39.5