From 042c169b2c25b2aa1ab2e512f0708fe530741984 Mon Sep 17 00:00:00 2001
From: Shikhar <shikharemail8@gmail.com>
Date: Thu, 9 Apr 2026 19:11:53 -0600
Subject: [PATCH] Encoder Fix code to test

---
 src/main/java/frc4388/robot/RobotContainer.java            | 7 ++++++-
 src/main/java/frc4388/robot/subsystems/intake/Intake.java  | 7 +++++++
 .../frc4388/robot/subsystems/intake/IntakeConstants.java   | 2 +-
 .../java/frc4388/robot/subsystems/intake/IntakeIO.java     | 1 +
 .../java/frc4388/robot/subsystems/intake/IntakeReal.java   | 5 +++++
 5 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index be41220..a61bcbf 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -167,7 +167,7 @@ public class RobotContainer {
             IntakeRetracted,
             new WaitCommand(4.4),
             new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
-            new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
+            new InstantCommand(()-> m_robotShooter.spinUpIdle(), m_robotShooter)
         );
     
         
@@ -382,6 +382,11 @@ public class RobotContainer {
                 m_robotIntake.setMode(IntakeMode.ExtendingRolling);
             }));
             
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
+            .onTrue(new InstantCommand(()  -> {
+                m_robotIntake.setMode(IntakeMode.EncoderFix);
+            }));
+
         new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
             .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.LabubuGrowl);
diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
index 9ca2602..3732073 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -34,6 +34,7 @@ public class Intake extends SubsystemBase {
         ExtendingIdle,
         ExtendingRolling,
 
+        EncoderFix,
         Retracting,
         ArmIdleRollingNot,
 
@@ -122,12 +123,18 @@ public class Intake extends SubsystemBase {
                 io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, 0);
                 break;
+        
                 
             case ExtendingRolling:
                 io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get()); //getTargetRollerSpeed(ChassisOverallSpeed));
                 break;
 
+            case EncoderFix:
+                io.armFix(IntakeConstants.FIX_ARM_PERCENT_OUTPUT.get());
+                io.setRollerOutput(state, 0);
+                break;
+
             case Retracting:
                 io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
 
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
index e884d92..d45eb91 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
@@ -37,7 +37,7 @@ public class IntakeConstants {
     // public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current UPPER THRESHOLD", 25);
     public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.2);
     public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm reduce squeeze % output", 0.02);
-
+    public static final ConfigurableDouble FIX_ARM_PERCENT_OUTPUT = new ConfigurableDouble("Arm encoder fix % output", -0.1);
 
     //IDs
 
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
index 706a37f..3838bc2 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
@@ -52,6 +52,7 @@ public interface IntakeIO {
     public default void stopArm() {}
     public default void setRollerOutput(IntakeState state, double rollerOutput) {}
     public default void armOutput(double percentOutput) {}
+    public default void armFix(double percentOutput) {}
     public default void updateInputs(IntakeState state) {}
     public default void updateGains() {}
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
index c4ba79c..54edf4c 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
@@ -111,6 +111,11 @@ public class IntakeReal implements IntakeIO {
 
     }
 
+    @Override
+    public void armFix(double percentOutput) {
+        m_armMotor.set(percentOutput);
+    }
+
     @Override
     public void updateInputs(IntakeState state) {
         m_encoder.update();