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Iron-Panthers · Nov 12, 2023 · df9f51c · df9f51c
1 parent 6f8e149
commit df9f51c
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -253,7 +253,7 @@ public static final class Intake {
     public static final double OUTTAKE_CUBE_PERCENT = 0.7;
 
     public static final double HOLD_CONE_PERCENT = 0.1;
-    public static final double HOLD_CUBE_PERCENT = -0.1;
+    public static final double HOLD_CUBE_PERCENT = -0.2;
 
     public static final double CONE_STATOR_LIMIT = 75;
     public static final double CUBE_STATOR_LIMIT = 65;

diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java
@@ -292,7 +292,7 @@ private void positionDrivePeriodic() {
     } else {
       wristMotor.set(
           TalonFXControlMode.PercentOutput,
-          MathUtil.clamp(wristController.calculate(currentWristAngle, targetAngle), -0.25, 0.25));
+          MathUtil.clamp(wristController.calculate(currentWristAngle, targetAngle), -0.5, 0.5));
     }
   }
 

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -121,7 +121,7 @@ public void periodic() {
     filterOutput = filter.calculate(intakeMotor.getStatorCurrent());
     if (isCube && filterOutput >= Intake.CUBE_STATOR_LIMIT) {
       currentIntakeMode = Modes.HOLD;
-    } else if (filterOutput >= Intake.CUBE_STATOR_LIMIT) {
+    } else if (filterOutput >= Intake.CONE_STATOR_LIMIT) {
       currentIntakeMode = Modes.HOLD;
     }