From ad86649391d56dd583a800e432efb8aebaedcc0b Mon Sep 17 00:00:00 2001
From: moo <moogoesmeow123@gmail.com>
Date: Fri, 17 Apr 2026 14:31:51 -0700
Subject: [PATCH] woops

---
 src/main/java/frc/robot/subsystems/Intake/Intake.java  |  2 +-
 .../java/frc/robot/subsystems/Intake/IntakeIO.java     |  7 -------
 .../frc/robot/subsystems/Intake/IntakeIOTalonFX.java   | 10 ----------
 3 files changed, 1 insertion(+), 18 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 76f94bc..c36b889 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -25,7 +25,7 @@ public class Intake extends SubsystemBase {
     io.updateInputs(inputs);
     Logger.processInputs("Intake", inputs);
 
-    double inchExtension = io.getPosition();
+    double inchExtension = inputs.leftPosition;
 
     if (calibrating) {
       io.setRightMotor(-0.1);
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
index 037805e..41ee911 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
@@ -20,13 +20,6 @@ public interface IntakeIO {
 
   public void updateInputs(IntakeIOInputs inputs);
 
-  /**
-   * Get the intake extender position
-   * 
-   * @return inches
-   */
-  public double getPosition();
-
   /**
    * Set the intake extender position
    * 
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java
index 062e44a..c8045ad 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeIOTalonFX.java
@@ -136,16 +136,6 @@ public class IntakeIOTalonFX implements IntakeIO {
     leftMotor.setControl(voltageRequest.withPosition(motorRotations).withEnableFOC(true));
   }
 
-  /**
-   * Get the intake extender position
-   * 
-   * @return inches
-   */
-  @Override
-  public double getPosition() {
-    return Intake.rotationsToInches(leftMotor.getPosition().getValueAsDouble());
-  }
-
   @Override
   public void setLeftMotor(double speed) {
     leftMotor.set(speed);
-- 
2.39.5