From 51276a3e9734e02b31379d2f9d6451c10f3eba11 Mon Sep 17 00:00:00 2001
From: Michael Mikovsky <77305074+Astatin3@users.noreply.github.com>
Date: Thu, 5 Dec 2024 16:48:42 -0700
Subject: [PATCH] Include Intake PIDs

---
 src/main/java/frc4388/robot/Constants.java          | 6 +++---
 src/main/java/frc4388/robot/RobotContainer.java     | 2 +-
 src/main/java/frc4388/robot/subsystems/Intake.java  | 4 ++--
 src/main/java/frc4388/robot/subsystems/Shooter.java | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 525b6a7..2f6d673 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -153,9 +153,9 @@ public final class Constants {
         }
 
         public static final double IN_POSITION =0.0;
-        public static final double OUT_POSITION =0.0;
-        public static final double INTAKE_SPEED= 0.0;
-        public static final double OUTTAKE_SPEED= 0.0;
+        public static final double OUT_POSITION =-50;
+        public static final double INTAKE_SPEED= 0.75;
+        public static final double OUTTAKE_SPEED= -1.0;
     }
     public static final class ShooterConstants
     {
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 262f48c..fadb69f 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -157,7 +157,7 @@ public class RobotContainer {
         // ?  /* Operator Buttons */
 
         /*Intake */
-        DualJoystickButton(getDeadbandedDriverController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
         .onTrue(new SequentialCommandGroup(
             new InstantCommand(() -> m_robotIntake.PIDOut()),
             new InstantCommand(() -> m_robotIntake.spinIntakeMotor())
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 9e7b78a..794393d 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -20,9 +20,9 @@ public class Intake extends SubsystemBase{
         intakeMotor.setNeutralMode(NeutralModeValue.Brake);
 
         var PIDConfigs = new Slot0Configs();
-        PIDConfigs.kP = 0;
+        PIDConfigs.kP = 1;
         PIDConfigs.kI = 0;
-        PIDConfigs.kD = 0;
+        PIDConfigs.kD = 0.25;
         pivotMotor.getConfigurator().apply(PIDConfigs);
 
     }
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 98d39a0..5306737 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -23,8 +23,8 @@ public class Shooter extends SubsystemBase {
   }
 
   public void spin(double speed) {
-    leftShooter.set(speed);
-    rightShooter.set(speed);
+    leftShooter.set(-speed);
+    rightShooter.set(-speed);
   }
 
   public void spin() {