From 7dc6e340349b38f929107d10abd80cc9633d1827 Mon Sep 17 00:00:00 2001
From: Shikhar <mira.j.maroni@gmail.com>
Date: Tue, 3 Mar 2026 17:13:28 -0700
Subject: [PATCH 1/2] fix

---
 src/main/java/frc4388/robot/RobotContainer.java           | 3 ++-
 src/main/java/frc4388/robot/subsystems/intake/Intake.java | 6 +-----
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index b753161..c803cc3 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -120,7 +120,8 @@ public class RobotContainer {
     // );
 
     private Command RobotRev = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake),
         new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter)
     );
 
diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
index 8425c54..c1a90ad 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -27,8 +27,7 @@ public class Intake extends SubsystemBase {
         Retracted,
         Extending,
         Retracting,
-        Idle,
-        RollerStop
+        Idle
     }
 
     private IntakeMode mode = IntakeMode.Idle;
@@ -91,9 +90,6 @@ public class Intake extends SubsystemBase {
             case Idle:
                 io.stopArm();
                 break;
-            case RollerStop:
-                io.setRollerOutput(state, 0);
-                break;
         }
         // if (state.retractedLimit){
         //     this.mode = IntakeMode.Retracted;

From 13414a832791d1e6398d1675c12ac129ca1607b8 Mon Sep 17 00:00:00 2001
From: Shikhar <mira.j.maroni@gmail.com>
Date: Tue, 3 Mar 2026 17:22:29 -0700
Subject: [PATCH 2/2] Update RobotContainer.java

---
 src/main/java/frc4388/robot/RobotContainer.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index c803cc3..8733949 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -283,6 +283,7 @@ public class RobotContainer {
         //set shooter ready (rev) with left trigger hold
         new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
             .onTrue(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Idle);
                 m_robotIntake.rollerStop();
                 m_robotShooter.spinUpShooting();
             }))