From 3881b592c57a87a52b2f68d139193285c03b4aca Mon Sep 17 00:00:00 2001 From: WeWaWu Date: Tue, 31 Mar 2026 19:33:30 -0700 Subject: [PATCH 1/3] IntakeDeploy to increase --- .../subsystems/intake_deploy/IntakeDeploySubsystem.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java b/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java index 0baaf3aa..0aee065c 100644 --- a/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java +++ b/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java @@ -80,13 +80,13 @@ public IntakeDeploySubsystem(XCANMotorController.XCANMotorControllerFactory xcan this.intakeDeployEncoder = null; } - this.retractedPosition = propertyFactory.createPersistentProperty("RetractedPosition", -10.0); - this.extendedPosition = propertyFactory.createPersistentProperty("ExtendedPosition", -145.0); + this.retractedPosition = propertyFactory.createPersistentProperty("RetractedPosition", 10.0); + this.extendedPosition = propertyFactory.createPersistentProperty("ExtendedPosition", 145.0); this.manualControlPower = propertyFactory.createPersistentProperty("ManualControlPower", 0.2); this.mechanismDegreePerMotorRotation = propertyFactory.createPersistentProperty("MechanismDegreePerMotorRotation", 360); - this.mechanismTargetRotation = propertyFactory.createPersistentProperty("MechanismTargetRotation", Degrees.of(-10)); + this.mechanismTargetRotation = propertyFactory.createPersistentProperty("MechanismTargetRotation", Degrees.of(0)); this.maxPidVelocity = propertyFactory.createPersistentProperty("PidMaxMotorVelocity-RotationsPerSecond", 200); this.maxPidAcceleration = propertyFactory.createPersistentProperty("PidMaxMotorAcceleration-RotationsPerSecondPerSecond", 200); @@ -103,7 +103,7 @@ public IntakeDeploySubsystem(XCANMotorController.XCANMotorControllerFactory xcan @Override public Angle getCurrentValue() { if (intakeDeployEncoder != null) { - return intakeDeployEncoder.getAbsolutePosition(); + return Degrees.of(-intakeDeployEncoder.getAbsolutePosition().in(Degrees)); } return Degrees.zero(); From a6adc6a88534201fa280454d19fc116ade8933ff Mon Sep 17 00:00:00 2001 From: WeWaWu Date: Thu, 2 Apr 2026 18:57:51 -0700 Subject: [PATCH 2/3] Small changes --- .../subsystems/intake_deploy/IntakeDeploySubsystem.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java b/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java index 0aee065c..ffda2e55 100644 --- a/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java +++ b/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java @@ -86,7 +86,7 @@ public IntakeDeploySubsystem(XCANMotorController.XCANMotorControllerFactory xcan this.manualControlPower = propertyFactory.createPersistentProperty("ManualControlPower", 0.2); this.mechanismDegreePerMotorRotation = propertyFactory.createPersistentProperty("MechanismDegreePerMotorRotation", 360); - this.mechanismTargetRotation = propertyFactory.createPersistentProperty("MechanismTargetRotation", Degrees.of(0)); + this.mechanismTargetRotation = propertyFactory.createPersistentProperty("MechanismTargetRotation", Degrees.of(10)); this.maxPidVelocity = propertyFactory.createPersistentProperty("PidMaxMotorVelocity-RotationsPerSecond", 200); this.maxPidAcceleration = propertyFactory.createPersistentProperty("PidMaxMotorAcceleration-RotationsPerSecondPerSecond", 200); @@ -103,7 +103,7 @@ public IntakeDeploySubsystem(XCANMotorController.XCANMotorControllerFactory xcan @Override public Angle getCurrentValue() { if (intakeDeployEncoder != null) { - return Degrees.of(-intakeDeployEncoder.getAbsolutePosition().in(Degrees)); + return intakeDeployEncoder.getAbsolutePosition().times(-1); } return Degrees.zero(); From eb39d5be141e05ef1e4e4f5f3a1e21c436c3315f Mon Sep 17 00:00:00 2001 From: WeWaWu Date: Thu, 2 Apr 2026 20:08:51 -0700 Subject: [PATCH 3/3] Inverted Encoders and Motors --- .../java/competition/electrical_contract/Contract2026.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/competition/electrical_contract/Contract2026.java b/src/main/java/competition/electrical_contract/Contract2026.java index ca2cb33c..453c5495 100644 --- a/src/main/java/competition/electrical_contract/Contract2026.java +++ b/src/main/java/competition/electrical_contract/Contract2026.java @@ -192,7 +192,8 @@ public CANMotorControllerInfo getIntakeDeployMotor() { new TalonFxMotorControllerOutputConfig() .withSupplyCurrentLimit(Amps.of(15), Amps.of(30), Seconds.of(1)) .withStatorCurrentLimit(Amps.of(50)) - .withRemoteCanCoderFeedback(getIntakeDeployAbsoluteEncoder().channel)); + .withRemoteCanCoderFeedback(getIntakeDeployAbsoluteEncoder().channel) + .withInversionType(CANMotorControllerOutputConfig.InversionType.Inverted)); } @Override @@ -200,7 +201,7 @@ public CANMotorControllerInfo getIntakeDeployMotor() { @Override public DeviceInfo getIntakeDeployAbsoluteEncoder() { - return new DeviceInfo("IntakeDeployAbsoluteEncoderReady", CANBusId.Canivore, 58); + return new DeviceInfo("IntakeDeployAbsoluteEncoderReady", CANBusId.Canivore, 58, true); } @Override