swuidf

src/main/deploy/pathplanner/paths/Bump test.path

@@ -58,7 +58,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/BumpToCenter.path

@@ -37,7 +37,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/CPlayerStation-CShoot.path

@@ -58,7 +58,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/Center-NeutralL.path

@@ -37,7 +37,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/Center-NeutralR.path

@@ -37,7 +37,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/Center-ToDepot.path

@@ -37,7 +37,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/Copy of HubFarRight-NeutralZone 1-2.path

@@ -48,7 +48,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubCenter-PlayerStation.path

@@ -104,7 +104,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path

@@ -48,7 +48,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path

@@ -88,7 +88,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarLeft-Shoot.path

@@ -58,7 +58,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 1-2.path

@@ -48,7 +48,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path

@@ -88,7 +88,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarRight-Shoot.path

@@ -58,7 +58,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubLeft-Shoot.path

@@ -48,7 +48,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path

@@ -64,7 +64,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubRight-Shoot.path

@@ -48,7 +48,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/LeftBump-Neutral-Shoot.path

@@ -111,7 +111,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/LeftBump.path

@@ -42,7 +42,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/LeftBump2-Neutral2-Shoot2.path

@@ -131,7 +131,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/LeftBump2.path

@@ -42,7 +42,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/LeftRamp-Shoot.path

@@ -48,7 +48,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path

@@ -58,7 +58,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/ReadyPush.path

@@ -48,7 +48,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/RightBump-Neutral-Shoot.path

@@ -111,7 +111,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/RightBump.path

@@ -42,7 +42,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/RightBump2-Neutral2-Shoot2.path

@@ -125,7 +125,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/RightBump2.path

@@ -42,7 +42,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/ShotRightR-PlayerStation.path

@@ -78,7 +78,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {
@@ -89,7 +89,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -106.71386741074436
+    "rotation": -106.71386741074437
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path

@@ -78,7 +78,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/Stupidauto.path

@@ -37,7 +37,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/settings.json

@@ -11,7 +11,7 @@
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 600.0,
   "defaultMaxAngAccel": 750.0,
-  "defaultNominalVoltage": 10.0,
+  "defaultNominalVoltage": 12.0,
   "robotMass": 74.088,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,

src/main/java/frc4388/robot/Main.java

@@ -25,5 +25,6 @@ public final class Main {
    */
   public static void main(String... args) {
     RobotBase.startRobot(Robot::new);
+    
   }
 }

src/main/java/frc4388/robot/Robot.java

@@ -82,6 +82,7 @@ public class Robot extends LoggedRobot {
     // and running subsystem periodic() methods.  This must be called from the robot's periodic
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
+
   }
   /**
    * This function is called once each time the robot enters Disabled mode.

src/main/java/frc4388/robot/RobotContainer.java

@@ -139,7 +139,8 @@ public class RobotContainer {
         private Command RobotRev = new SequentialCommandGroup(
             new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
             IntakeExtended,
-            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake)
+            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExpelBalls), m_robotIntake)
+            // new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake)
         );
 
         private Command WaitIntakeReference =
@@ -161,10 +162,11 @@ public class RobotContainer {
             // TEST NEW AUTO ALIGN
             //new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION,  new Rotation2d(0)), false),
             new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
+            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
             new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
-            new WaitCommand(4),
+            new WaitCommand(3),
             IntakeRetracted,
-            new WaitCommand(7),
+            new WaitCommand(4.5),
             new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
             new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
         );
@@ -183,7 +185,8 @@ public class RobotContainer {
             DeferredBlock.addBlock(() -> {
                 TimesNegativeOne.update();
                 FieldPositions.update();
-    
+                m_robotIntake.setMode(IntakeMode.Idle);
+                m_robotShooter.spinUpIdle();
                 m_robotIntake.io.updateGains();
                 m_robotShooter.io.updateGains();
             }, true);
@@ -339,7 +342,6 @@ public class RobotContainer {
         new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
             .onTrue(new InstantCommand(() -> {
                 m_robotShooter.allowShooting();
-                m_robotIntake.rollerStop();
             })).onFalse(new InstantCommand(() -> {
                 m_robotShooter.denyShooting();
             }));
@@ -380,6 +382,7 @@ public class RobotContainer {
             .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.ExtendingRolling);
             }));
+            
         new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
             .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.LabubuGrowl);
@@ -392,7 +395,7 @@ public class RobotContainer {
                 m_robotIntake.setMode(IntakeMode.Retracting);
             }))
             .onFalse(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Idle);
+                m_robotIntake.setMode(IntakeMode.ArmIdleRollingNot);
             }));
 
         

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 220;
+  public static final int GIT_REVISION = 221;
-  public static final String GIT_SHA = "9564554c0708fd0b761f959685258d9c1a90d11e";
+  public static final String GIT_SHA = "1636a054ed1e688234fe329b76f567d6af08081f";
-  public static final String GIT_DATE = "2026-04-06 19:50:34 MDT";
+  public static final String GIT_DATE = "2026-04-06 22:44:17 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-04-06 22:42:14 MDT";
+  public static final String BUILD_DATE = "2026-04-07 20:27:10 MDT";
-  public static final long BUILD_UNIX_TIME = 1775536934067L;
+  public static final long BUILD_UNIX_TIME = 1775615230294L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/constants/Constants.java

@@ -97,7 +97,7 @@ public final class Constants {
    
 
     public static final class LEDConstants {
-        public static final int LED_SPARK_ID = 9;
+        public static final int LED_SPARK_ID = 8;
 
         public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_RAINBOW;
 

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -35,6 +35,7 @@ public class Intake extends SubsystemBase {
         ExtendingRolling,
 
         Retracting,
+        ArmIdleRollingNot,
 
         Idle,
         RectractTorque,
@@ -79,7 +80,6 @@ public class Intake extends SubsystemBase {
     public double getRollerSpeed() {
         return state.rollerOutput;
     }
-
     // public enum FieldZone {
     //     // The robot should aim at the hub
     //     InShootZone,
@@ -136,7 +136,10 @@ public class Intake extends SubsystemBase {
                 //     io.setRollerOutput(state, 0);
                 // }
                 break;
-            
+            case ArmIdleRollingNot:
+                io.armOutput(0);
+                io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
+                break;
             case Bouncing:
                 // io.setRollerOutput(state, 0);
 

src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java

@@ -23,7 +23,7 @@ public class IntakeConstants {
     public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
     public static final ConfigurableDouble ARM_ENCODER_OFFSET = new ConfigurableDouble("Arm Encoder Offset", 0);
 
-    public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
+    public static final int ARM_LIMIT_SWITCH_CHANNEL = 7;
 
     public static final ConfigurableDouble INTAKE_BOUNCE_HALF_PERIOD = new ConfigurableDouble("Bounce Half Period", 5.);
     public static final ConfigurableDouble INTAKE_BOUNCE_OUTPUT = new ConfigurableDouble("Bounce Output", 0.1);
@@ -56,7 +56,7 @@ public class IntakeConstants {
     // public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
 
     public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.);
-    public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.75);
+    public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.8); //new soft limt
     public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
     public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2);
 
@@ -108,9 +108,9 @@ public class IntakeConstants {
             .forwardLimitSwitchType(Type.kNormallyOpen)
             .forwardLimitSwitchTriggerBehavior(Behavior.kKeepMovingMotor)
 
-            .reverseLimitSwitchType(Type.kNormallyClosed)
+             .reverseLimitSwitchType(Type.kNormallyOpen)
-            .reverseLimitSwitchPosition(0)
+            // .reverseLimitSwitchPosition(0)
-            .reverseLimitSwitchTriggerBehavior(Behavior.kStopMovingMotorAndSetPosition);
+            .reverseLimitSwitchTriggerBehavior(Behavior.kKeepMovingMotor);
 
         ARM_MOTOR_CONFIG.idleMode(IdleMode.kBrake);
 

src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java

@@ -4,6 +4,8 @@ import static edu.wpi.first.units.Units.Amps;
 import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 
+import org.littletonrobotics.junction.Logger;
+
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.revrobotics.PersistMode;
 import com.revrobotics.ResetMode;
@@ -13,6 +15,8 @@ import com.revrobotics.spark.SparkMax;
 
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Timer;
+import frc4388.robot.constants.Constants;
 import frc4388.utility.compute.JankCoder;
 
 public class IntakeReal implements IntakeIO {
@@ -23,6 +27,9 @@ public class IntakeReal implements IntakeIO {
     TalonFX m_rollerMotor;
     JankCoder m_encoder;
     DigitalInput m_armLimitSwitch;
+    boolean m_limitTRIGGER = false;
+    private final Timer m_limitTimer = new Timer();
+
 
     public IntakeReal(
         DigitalInput armLimitSwitch,
@@ -78,9 +85,12 @@ public class IntakeReal implements IntakeIO {
         // m_rollerMotor.set(0);
     }
 
-    // private boolean retractedLimit() {
+    private boolean retractedLimit() {
-    //     return m_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
+        return m_armLimitSwitch.get();
-    // }
+    }
+    private boolean retractedSoftLimit() {
+        return m_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
+    }
     private boolean extendedLimit() {
         return m_encoder.get() >= IntakeConstants.ARM_LIMIT_EXTENDED.get();
     }
@@ -88,9 +98,9 @@ public class IntakeReal implements IntakeIO {
     @Override
     public void armOutput(double percentOutput){
 
-        // if(retractedLimit()) {
+        if(retractedSoftLimit()) {
-        //     percentOutput = Math.max(percentOutput, 0);
+            percentOutput = Math.max(percentOutput, 0);
-        // } 
+        } 
         
         if (extendedLimit()) {
             percentOutput = Math.min(percentOutput, 0);
@@ -120,16 +130,30 @@ public class IntakeReal implements IntakeIO {
         state.intakeEncoder = m_encoder.getRotations();
         state.encoderConnected = m_encoder.isConnected();
 
-        state.retractedLimitSwitch = m_armLimitSwitch.get();
+        state.retractedLimitSwitch = retractedLimit();
 
-        if(state.retractedLimitSwitch) {
+        // if(state.retractedLimitSwitch && (state.armMotorVelocity.in(RotationsPerSecond) <0)) {
-            m_encoder.resetRotations();
+        //     if (!m_limitTRIGGER) {
-        }
+        //         m_limitTRIGGER = true;
+        //         m_limitTimer.restart();
+        //     }
+        //     if (m_limitTimer.hasElapsed(1.0)) {
+        //         m_encoder.resetRotations();
+        //     }
+        // } else {
+        //     m_limitTRIGGER = false;
+        //     m_limitTimer.reset();
+        // }
     }
 
     @Override 
     public void updateGains() {
-        m_encoder.loadRotations();
+        // m_encoder.loadRotations();
+
+
+        if(retractedLimit()) {
+            m_encoder.resetRotations();
+        }
 
         // IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
         // IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();

src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java

@@ -26,7 +26,7 @@ public class    ShooterConstants {
     // public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
     
     
-    public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15);
+    public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", 0.0);//-0.15);
     // public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.);
     // public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);