Speed limiter on intake, Renamed intake motors for clarity.

OakvilleDynamics · Feb 14, 2024 · 5ff9ceb · 5ff9ceb
1 parent 4ae53a2
commit 5ff9ceb
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Showing 2 changed files with 12 additions and 12 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -71,17 +71,17 @@ public static class OperatorConstants {
   public static class MechanismConstants {
 
     // Intake Motors
-    public static final int INTAKE_MOTOR_1 = 51;
-    public static final int INTAKE_MOTOR_2 = 52;
-    public static final boolean INTAKE_MOTOR_1_INVERTED = true;
-    public static final boolean INTAKE_MOTOR_2_INVERTED = false;
-    public static final double INTAKE_MOTOR_SPEED = 1;
+    public static final int INTAKE_MOTOR_SUSHI = 51;
+    public static final int INTAKE_MOTOR_FRONT = 52;
+    public static final boolean INTAKE_MOTOR_SUSHI_INVERTED = true;
+    public static final boolean INTAKE_MOTOR_FRONT_INVERTED = false;
+    public static final double INTAKE_MOTOR_SPEED = 0.25;
 
     // Conveyor Motors
     public static final int CONVEYOR_MOTOR_1 = 1;
     public static final int CONVEYOR_MOTOR_2 = 2;
     public static final boolean CONVEYOR_MOTOR_1_INVERTED = true;
     public static final boolean CONVEYOR_MOTOR_2_INVERTED = false;
-    public static final double CONVEYOR_MOTOR_SPEED = .15;
+    public static final double CONVEYOR_MOTOR_SPEED = 0.25;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -12,19 +12,19 @@
 public class Intake extends SubsystemBase {
 
   private final CANSparkMax intakeMotor1 =
-      new CANSparkMax(MechanismConstants.INTAKE_MOTOR_1, CANSparkLowLevel.MotorType.kBrushless);
+      new CANSparkMax(MechanismConstants.INTAKE_MOTOR_SUSHI, CANSparkLowLevel.MotorType.kBrushless);
   private final CANSparkMax intakeMotor2 =
-      new CANSparkMax(MechanismConstants.INTAKE_MOTOR_2, CANSparkLowLevel.MotorType.kBrushless);
+      new CANSparkMax(MechanismConstants.INTAKE_MOTOR_FRONT, CANSparkLowLevel.MotorType.kBrushless);
 
   /** Creates a new Intake. */
   public Intake() {
-    intakeMotor1.setInverted(MechanismConstants.INTAKE_MOTOR_1_INVERTED);
-    intakeMotor2.setInverted(MechanismConstants.INTAKE_MOTOR_2_INVERTED);
+    intakeMotor1.setInverted(MechanismConstants.INTAKE_MOTOR_SUSHI_INVERTED);
+    intakeMotor2.setInverted(MechanismConstants.INTAKE_MOTOR_FRONT_INVERTED);
   }
 
   /** Sets the intake motors to 100% power. */
   public void enableIntake() {
-    intakeMotor1.set(MechanismConstants.INTAKE_MOTOR_SPEED);
+    intakeMotor1.set(MechanismConstants.INTAKE_MOTOR_SPEED*0.66);
     intakeMotor2.set(MechanismConstants.INTAKE_MOTOR_SPEED);
   }
 
@@ -36,7 +36,7 @@ public void disableIntake() {
 
   /** Sets the intake motors to -100% power. (Reverse direction) */
   public void reverseIntake() {
-    intakeMotor1.set(-MechanismConstants.INTAKE_MOTOR_SPEED);
+    intakeMotor1.set(-MechanismConstants.INTAKE_MOTOR_SPEED*0.66);
     intakeMotor2.set(-MechanismConstants.INTAKE_MOTOR_SPEED);
   }