Merge branch 'main' of https://github.com/OakvilleDynamics/2024-Robot

OakvilleDynamics · Feb 17, 2024 · 61631a7 · 61631a7
2 parents e03d2bc + e114ee5
commit 61631a7
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Showing 3 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
@@ -75,7 +75,8 @@ public static class MechanismConstants {
     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;
+    public static final double INTAKE_MOTOR_SPEED_FRONT = 0.25;
+    public static final double INTAKE_MOTOR_SPEED_SUSHI = 0.50;
 
     // Conveyor Motors
     public static final int CONVEYOR_MOTOR_1 = 1;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -9,7 +9,6 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Filesystem;
-import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -11,33 +11,33 @@
 
 public class Intake extends SubsystemBase {
 
-  private final CANSparkMax intakeMotor1 =
+  private final CANSparkMax intakeSushi =
       new CANSparkMax(MechanismConstants.INTAKE_MOTOR_SUSHI, CANSparkLowLevel.MotorType.kBrushless);
-  private final CANSparkMax intakeMotor2 =
+  private final CANSparkMax intakeFront =
       new CANSparkMax(MechanismConstants.INTAKE_MOTOR_FRONT, CANSparkLowLevel.MotorType.kBrushless);
 
   /** Creates a new Intake. */
   public Intake() {
-    intakeMotor1.setInverted(MechanismConstants.INTAKE_MOTOR_SUSHI_INVERTED);
-    intakeMotor2.setInverted(MechanismConstants.INTAKE_MOTOR_FRONT_INVERTED);
+    intakeSushi.setInverted(MechanismConstants.INTAKE_MOTOR_SUSHI_INVERTED);
+    intakeFront.setInverted(MechanismConstants.INTAKE_MOTOR_FRONT_INVERTED);
   }
 
   /** Sets the intake motors to 100% power. */
   public void enableIntake() {
-    intakeMotor1.set(MechanismConstants.INTAKE_MOTOR_SPEED * 0.66);
-    intakeMotor2.set(MechanismConstants.INTAKE_MOTOR_SPEED);
+    intakeSushi.set(MechanismConstants.INTAKE_MOTOR_SPEED_SUSHI);
+    intakeFront.set(MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
   }
 
   /** Sets the intake motors to 0% power. */
   public void disableIntake() {
-    intakeMotor1.set(0);
-    intakeMotor2.set(0);
+    intakeSushi.set(0);
+    intakeFront.set(0);
   }
 
   /** Sets the intake motors to -100% power. (Reverse direction) */
   public void reverseIntake() {
-    intakeMotor1.set(-MechanismConstants.INTAKE_MOTOR_SPEED * 0.66);
-    intakeMotor2.set(-MechanismConstants.INTAKE_MOTOR_SPEED);
+    intakeSushi.set(-MechanismConstants.INTAKE_MOTOR_SPEED_SUSHI);
+    intakeFront.set(-MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
   }
 
   @Override