From e23ad1c0b63c75a9405c432ab6e412df50b06b10 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sat, 12 Mar 2022 20:39:04 -0700
Subject: [PATCH] motor configuring

---
 src/main/java/frc4388/robot/RobotMap.java     | 27 ++++++++++++++++---
 .../frc4388/robot/subsystems/Extender.java    |  3 ---
 .../java/frc4388/robot/subsystems/Intake.java |  3 ---
 3 files changed, 24 insertions(+), 9 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 6f6350d..5595a9a 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -37,6 +37,10 @@ public class RobotMap {
     // configureLEDMotorControllers();
     configureSwerveMotorControllers();
     // configureShooterMotorControllers();
+    configureIntakeMotors();
+    configureExtenderMotors();
+    configureSerializerMotors();
+    configureStorageMotors();
   }
 
   /* LED Subsystem */
@@ -182,7 +186,7 @@ public class RobotMap {
     rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
         RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
         SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    }
+}
 
 //   // Shooter Config
 //   /* Boom Boom Subsystem */
@@ -257,15 +261,32 @@ public class RobotMap {
   public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
   public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
 
-  void configureIntakeMotors(){
+  void configureIntakeMotors() {
     intakeMotor.configFactoryDefault();
+    intakeMotor.setInverted(false);
     intakeMotor.setNeutralMode(NeutralMode.Coast);
+
     intakeMotor.configSupplyCurrentLimit(IntakeConstants.SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE);
     intakeMotor.configStatorCurrentLimit(IntakeConstants.STATOR_CURRENT_LIMIT_CONFIG_INTAKE);
   }
 
+  void configureExtenderMotors() {
+      extenderMotor.restoreFactoryDefaults();
+      extenderMotor.setInverted(true);
+      extenderMotor.setIdleMode(IdleMode.kBrake);
+  }
+
+    void configureSerializerMotors() {
+        serializerBelt.restoreFactoryDefaults();
+    }
+
   /* Storage Subsystem */
-  public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
+    public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
 //   public final DigitalInput beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
 //   public final DigitalInput beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
+
+    void configureStorageMotors() {
+            storageMotor.restoreFactoryDefaults();
+    }
+
 }
diff --git a/src/main/java/frc4388/robot/subsystems/Extender.java b/src/main/java/frc4388/robot/subsystems/Extender.java
index f0749a5..108784c 100644
--- a/src/main/java/frc4388/robot/subsystems/Extender.java
+++ b/src/main/java/frc4388/robot/subsystems/Extender.java
@@ -23,9 +23,6 @@ public class Extender extends SubsystemBase {
 
     m_extenderMotor = extenderMotor;
 
-    m_extenderMotor.restoreFactoryDefaults();
-    m_extenderMotor.setInverted(true);
-
     m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
     m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
     m_inLimit.enableLimitSwitch(true);
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 4c086b2..5d6f001 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -23,9 +23,6 @@ public class Intake extends SubsystemBase {
   public Intake(WPI_TalonFX intakeMotor, Serializer serializer) {
     m_intakeMotor = intakeMotor;
     m_serializer = serializer;
-
-    m_intakeMotor.setNeutralMode(NeutralMode.Brake);
-    m_intakeMotor.setInverted(false);
   }
 
   @Override