From 16e1c6203680ad4cc72ddd5f6dfc8a1168c772e2 Mon Sep 17 00:00:00 2001 From: Shikhar Date: Sat, 4 Apr 2026 11:23:21 -0600 Subject: [PATCH 1/2] Merge --- src/main/java/frc4388/robot/subsystems/intake/Intake.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java index 037077c..4aa5423 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java @@ -150,7 +150,6 @@ public class Intake extends SubsystemBase { state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get() // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get() ) { - // System.out.println("RESET BOUNCE"); this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get(); } From f7841371facf4230291001fa08cbee7da7052003 Mon Sep 17 00:00:00 2001 From: Shikhar Date: Sat, 4 Apr 2026 11:23:37 -0600 Subject: [PATCH 2/2] Update IntakeConstants.java --- .../java/frc4388/robot/subsystems/intake/IntakeConstants.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java index 5172529..6916d23 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java @@ -63,6 +63,7 @@ public class IntakeConstants { public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17); public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50); + public static final ConfigurableDouble ROLLER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Roller IDLE Percent Output", .50); public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40); public static final ConfigurableDouble ROLLER_MULTIPLIER_CONST = new ConfigurableDouble("Roller Multiplier Constant", 0.4);