Fix errors

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

@@ -7,9 +7,7 @@ import java.util.function.Supplier;
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc4388.robot.subsystems.intake.Intake.IntakeMode;
 
 public class Intake extends SubsystemBase {
     public IntakeIO io;
@@ -29,7 +27,8 @@ public class Intake extends SubsystemBase {
         Extended,
         Retracted,
         Extending,
-        Retracting
+        Retracting,
+        Idle
     }
 
     private IntakeMode mode = IntakeMode.Extended;
@@ -73,22 +72,19 @@ public class Intake extends SubsystemBase {
                 io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
                 break;
             case Retracted:
-                if (!state.retractedLimit){
-                    io.stopArm();
-                } else {
-                    io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
-                }
+                io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
                 io.setRollerVelocity(state, RotationsPerSecond.of(0));
                 break;
             case Extending:
-                io.armExtend(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
+                io.armOutput(0.1);
+                io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
                 break;
             case Retracting:
-                if (!state.retractedLimit){
-                    io.stopArm();
-                } else {
-                    io.armRetract(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
-                }
+                io.armOutput(-0.1);
+                io.setRollerVelocity(state, RotationsPerSecond.of(0));
+                break;
+             case Idle:
+                io.stopArm();
                 break;
         }
 

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

@@ -36,8 +36,7 @@ public interface IntakeIO {
     public default void setArmAngle(IntakeState state, Angle angle) {}
     public default void stopArm() {}
     public default void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {}
-    public default void armExtend(double percentOutput) {}
-    public default void armRetract(double percentOutput) {}
+    public default void armOutput(double percentOutput) {}
     public default void updateInputs(IntakeState state) {}
     public default void updateGains() {}
 }

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

@@ -1,5 +1,9 @@
 package frc4388.robot.subsystems.intake;
 
+import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.Rotation;
+
+import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.PositionDutyCycle;
 import com.ctre.phoenix6.controls.VelocityDutyCycle;
 import com.ctre.phoenix6.hardware.TalonFX;
@@ -69,6 +73,7 @@ public class IntakeReal implements IntakeIO {
 
     @Override
     public void setArmAngle(IntakeState state, Angle angle) {
+        
         state.armTargetAngle = angle;
         // Assume that the angle is always accurate, because I think we will use a shaft encoder
         // Assume that 0 degrees = forwards. Might need an offset here
@@ -79,20 +84,25 @@ public class IntakeReal implements IntakeIO {
         Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
         
         // PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
-        m_armMotor.setControl(armPosition.withPosition(motorAngle));
+        m_armMotor.setControl(
+            armPosition
+                .withPosition(motorAngle)
+                .withLimitReverseMotion(!m_armLimitSwitch.get())
+            );
     }
+
     @Override
     public void stopArm(){
         m_armMotor.set(0);
     }
+    
     @Override
-    public void armExtend(double percentOutput){
-        m_armMotor.set(percentOutput);
-    }
-
-    @Override
-        public void armRetract(double percentOutput){
-        m_armMotor.set(percentOutput);
+    public void armOutput(double percentOutput){
+        var d = new DutyCycleOut(0);
+        m_armMotor.setControl(
+            d.withOutput(percentOutput)
+                .withLimitReverseMotion(!m_armLimitSwitch.get())
+            );
     }
 
     @Override