From 056362fe106bafad6d16cb33ceaf51a8350c3781 Mon Sep 17 00:00:00 2001
From: OnDYCLaptop <dingdoorfiah@gamil.com>
Date: Sat, 7 Mar 2026 12:43:00 +0800
Subject: [PATCH] =?UTF-8?q?climb=E4=BF=AE=E6=94=B9?=
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---
 .../robot/subsystems/IntakerSubsystem.java    | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
index 61f4299..f54fdc5 100644
--- a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
@@ -83,9 +83,24 @@ public class IntakerSubsystem extends SubsystemBase{
         stopIntakerotater();
     }
     public void IntakerDownNonStop(){
-        intakerotater.set(-0.05);
+        double currentPosition = getIntakerotaterPosition();
+        if (currentPosition > Constants.Intaker.intakeRotaterDownLimit) {
+            // move down (negative power) while above the lower limit
+            intakerotater.set(-0.05);
+        } else {
+            // at or below lower limit: stop
+            stopIntakerotater();
         }
+    }
+
     public void IntakerUpNonStop(){
-        intakerotater.set(0.1);
+        double currentPosition = getIntakerotaterPosition();
+        if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
+            // move up while below the upper limit
+            intakerotater.set(0.1);
+        } else {
+            // at or above upper limit: stop
+            stopIntakerotater();
+        }
     }
 }