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SaintsRobotics · Mar 5, 2024 · 7694a35 · 7694a35
1 parent 0f410cf
commit 7694a35
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -33,7 +33,7 @@ public static final class IOConstants {
     public static final int kDriverControllerPort = 0;
     public static final int kOperatorControllerPort = 1;
 
-    public static final double kControllerDeadband = 0.05;
+    public static final double kControllerDeadband = 0.1;
     public static final double kSlowModeScalar = 0.8;
   }
 
@@ -102,7 +102,7 @@ public static final class IntakeConstants {
 
     // In degrees
     public static final double kIntakeLoweredAngle = -193;
-    public static final double kIntakeRaisedAngle = -10;
+    public static final double kIntakeRaisedAngle = 0;
     public static final double kIntakeAmpScoringAngle = -93; // 193 - 100 (previous angle)
 
     /** Encoder offset in rotations */

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -40,8 +40,8 @@ public IntakeSubsystem() {
     SmartDashboard.putNumber("arm", m_armEncoder.getAbsolutePosition());
     m_armEncoder.setDistancePerRotation(360);
 
-    m_intakeMotor.setIdleMode(IdleMode.kBrake);
-    m_armMotor.setIdleMode(IdleMode.kCoast);
+    m_intakeMotor.setIdleMode(IdleMode.kCoast);
+    m_armMotor.setIdleMode(IdleMode.kBrake);
 
     m_armPID.setTolerance(10);