From 76243d3d4357ee37e23292aba418f1eef682cc44 Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 20 Feb 2026 14:51:20 -0800
Subject: [PATCH] Update Intake.java

---
 .../java/frc/robot/subsystems/Intake/Intake.java   | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 21342f9..f91063f 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -62,6 +62,8 @@ public class Intake extends SubsystemBase implements IntakeIO{
 
     private double setpointInches = 0.0;
 
+    private boolean calibrating = false;
+
     private final IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged();
 
     public Intake() {
@@ -190,6 +192,11 @@ public class Intake extends SubsystemBase implements IntakeIO{
         double velocity = rollerMotor.getVelocity().getValueAsDouble();
         SmartDashboard.putNumber("Roller Velocity", velocity);
 
+        if(calibrating){
+            leftMotor.set(-0.1);
+            rightMotor.set(-0.1);
+        }
+
         updateInputs();
         Logger.processInputs("Intake", inputs);
     }
@@ -336,7 +343,12 @@ public class Intake extends SubsystemBase implements IntakeIO{
     }
 
     public void calibrate(){
-        
+        calibrating = true;
+    }
+    public void stopCalibrating(){
+        calibrating = false;
+        zeroMotors();
+        retract();
     }
 
     @Override
-- 
2.39.5