From 46a004070148757b9d1e7ee5210d5412826e6c5d Mon Sep 17 00:00:00 2001 From: eileha Date: Tue, 3 Feb 2026 17:12:26 -0800 Subject: [PATCH] still need stuff --- src/main/java/frc/robot/subsystems/Intake/Intake.java | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index e74deea..64261fe 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -28,6 +28,8 @@ public class Intake extends SubsystemBase { leftMotor = new TalonFX(0); pid = new PIDController(0, 0, 0); + + } public void periodic() { @@ -35,7 +37,7 @@ public class Intake extends SubsystemBase { double motorPosition = getPosition(); double currentPosition = Units.rotationsToRadians(motorPosition/gearRatio); double power = pid.calculate(currentPosition); - + // THIS IS THE WRONG MOTOR rollerMotor.set(MathUtil.clamp(power, -1, 1)); } @@ -44,8 +46,7 @@ public class Intake extends SubsystemBase { } public void setPosition(double position) { - - + this.position = position; } public double getPosition(){ @@ -61,6 +62,8 @@ public class Intake extends SubsystemBase { public void extend() { setPosition(maxExtension); + + } public void retract(){ -- 2.39.5