From c087765cb538697d60632dd5da795f8ecec3aac2 Mon Sep 17 00:00:00 2001
From: Arnav495 <arnieincyberland@gmail.com>
Date: Wed, 18 Feb 2026 10:29:10 -0800
Subject: [PATCH] Fix mixed up motors.

---
 .../pathplanner/paths/Example Path.path       | 77 -------------------
 .../frc/robot/subsystems/Intake/Intake.java   | 15 ++--
 2 files changed, 7 insertions(+), 85 deletions(-)
 delete mode 100644 src/main/deploy/pathplanner/paths/Example Path.path

diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path
deleted file mode 100644
index 8cb5742..0000000
--- a/src/main/deploy/pathplanner/paths/Example Path.path	
+++ /dev/null
@@ -1,77 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 6.73143534994069,
-        "y": 6.514994068801898
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 7.0757295373665485,
-        "y": 5.621981020166073
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.710521945432978,
-        "y": 4.8795966785290625
-      },
-      "prevControl": {
-        "x": 7.1295255041518395,
-        "y": 5.6112218268090155
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "Index",
-      "waypointRelativePos": 0.5894263217097863,
-      "endWaypointRelativePos": 1.0,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Intake"
-        }
-      }
-    },
-    {
-      "name": "Index",
-      "waypointRelativePos": 0.589426321709788,
-      "endWaypointRelativePos": 1.0,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Index"
-        }
-      }
-    }
-  ],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": -6.7298911483521735
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index b4a29f7..bee1dc8 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -5,7 +5,6 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.controls.MotionMagicVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.MotorAlignmentValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 
@@ -37,11 +36,11 @@ public class Intake extends SubsystemBase {
 
     // create the motors
     /** Motor to move the roller */
-    private TalonFX rollerMotor = new TalonFX(IdConstants.RIGHT_MOTOR_ID, Constants.CANIVORE_SUB);
+    private TalonFX rollerMotor = new TalonFX(IdConstants.ROLLER_MOTOR_ID, Constants.CANIVORE_SUB);
     /** Right motor (master) */
-    private TalonFX rightMotor = new TalonFX(IdConstants.LEFT_MOTOR_ID, Constants.CANIVORE_SUB);
+    private TalonFX rightMotor = new TalonFX(IdConstants.RIGHT_MOTOR_ID, Constants.CANIVORE_SUB);
     /** Left motor (slave) */
-    private TalonFX leftMotor = new TalonFX(IdConstants.ROLLER_MOTOR_ID, Constants.CANIVORE_SUB);
+    private TalonFX leftMotor = new TalonFX(IdConstants.LEFT_MOTOR_ID, Constants.CANIVORE_SUB);
 
     /** Motor characteristics for the roller motor, a single Kraken X44 (aka gearbox) */
     private final DCMotor dcMotorRoller = DCMotor.getKrakenX44(1);
@@ -75,9 +74,9 @@ public class Intake extends SubsystemBase {
 
         // config the current limits (low value for testing)
         rollerConfig.CurrentLimits
-        .withStatorCurrentLimit(IntakeConstants.EXTENDER_CURRENT_LIMITS)
+        .withStatorCurrentLimit(IntakeConstants.ROLLER_CURRENT_LIMITS)
         .withStatorCurrentLimitEnable(true)
-        .withSupplyCurrentLimit(IntakeConstants.EXTENDER_CURRENT_LIMITS)
+        .withSupplyCurrentLimit(IntakeConstants.ROLLER_CURRENT_LIMITS)
         .withSupplyCurrentLimitEnable(true);
 
         // config Slot 0 PID params
@@ -100,9 +99,9 @@ public class Intake extends SubsystemBase {
 
         // config the current limits (low value for testing)
         config.CurrentLimits
-        .withStatorCurrentLimit(IntakeConstants.ROLLER_CURRENT_LIMITS)
+        .withStatorCurrentLimit(IntakeConstants.EXTENDER_CURRENT_LIMITS)
         .withStatorCurrentLimitEnable(true)
-        .withSupplyCurrentLimit(IntakeConstants.ROLLER_CURRENT_LIMITS)
+        .withSupplyCurrentLimit(IntakeConstants.EXTENDER_CURRENT_LIMITS)
         .withSupplyCurrentLimitEnable(true);
 
         // config Slot 0 PID params
-- 
2.39.5