From 3b0ec4bbcc7dbcf0a67f50a393fd9c4a82778a7f Mon Sep 17 00:00:00 2001 From: SR1899 Date: Sat, 2 Mar 2024 18:17:32 -0800 Subject: [PATCH] Good changes --- src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 148a438..6663c1c 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -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 index 419be10..72a7be0 100644 --- 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);