From b63cbd7afe48fe929e335399de36378c7e376479 Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 20 Feb 2026 13:14:41 -0800
Subject: [PATCH] Update IntakeConstants.java

---
 .../java/frc/robot/constants/IntakeConstants.java    | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/constants/IntakeConstants.java b/src/main/java/frc/robot/constants/IntakeConstants.java
index c69c76c..c472bda 100644
--- a/src/main/java/frc/robot/constants/IntakeConstants.java
+++ b/src/main/java/frc/robot/constants/IntakeConstants.java
@@ -4,13 +4,11 @@ import edu.wpi.first.math.util.Units;
 
 public class IntakeConstants {
     /** Intake roller motor speed in range [-1, 1] */
-    public static final double SPEED = 0.8;
+    public static final double SPEED = 1.0;
     /** 12 tooth pinion driving 36 tooth driven gear */
     public static final double GEAR_RATIO = 36.0/12.0;
     /** radius (inches) of the rack gear which is a 10 tooth pinion at 10 DP */
     public static final double RADIUS_RACK_PINION = 0.5;
-    /** roller current limits */
-    public static final double ROLLER_CURRENT_LIMITS = 40.0;
     /**right and left motor current limits */
     public static final double EXTENDER_CURRENT_LIMITS = 40.0;
 
@@ -20,9 +18,13 @@ public class IntakeConstants {
     public static final double DRUM_RADIUS_METERS = Units.inchesToMeters(1.0);
 
 
-
     /** max extension in inches */
-    public static final double MAX_EXTENSION = 10.0; // 14.856; 
+    public static final double MAX_EXTENSION = 10.0; // inches
+
+    public static final double INTERMEDIATE_EXTENSION = 5.0; //inches
+
+    public static final double STOW_EXTENSION = 0.2; // inches
+
     /** starting point in inches */
     public static final double STARTING_POINT = 0;
     /** rack pitch in teeth per inch of diameter (Diametral Pitch) DP = N teeth / Diameter in inches */
-- 
2.39.5