diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index ca6425a..1ac53de 100644 --- 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 index 7d20f0f..67e997e 100644 --- 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); }