双手柄版本

src/main/java/frc/robot/subsystems/ClimberSubsystem.java

@@ -46,12 +46,10 @@ public class ClimberSubsystem extends SubsystemBase {
         holdPositionTicks = getPositionTicks();
     }
     public void initialize() {
-        
         climberMotor.set(-0.07);
-
     }
+    
     public void zeroEncoder(){
-
         climberMotor.setPosition(0);
         stopMotor();
     }
@@ -75,7 +73,6 @@ public class ClimberSubsystem extends SubsystemBase {
         
     }
     public void climbDownNonStop(){
-
         deltaPositionTicks = Constants.Climber.deltaDownTicks;  
         climberMotor.setControl(positionHoldRequest.withPosition(targetPositionTicks-deltaPositionTicks));
     }

src/main/java/frc/robot/subsystems/IntakerSubsystem.java

@@ -64,4 +64,7 @@ public class IntakerSubsystem extends SubsystemBase{
             intakegetter.setControl(velocityRequest.withVelocity(0));
         }
     }
+    public void setIntakerGetterSpeed(double speed) {
+        intakegetter.setControl(velocityRequest.withVelocity(speed));
+    }
 }

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -146,6 +146,9 @@ public class ShooterSubsystem extends SubsystemBase {
     public void conveyorRun(){
         setConveyorSpeedByRPS(Constants.Shooter.conveyorSpeed);
     }
+    public void resetbackboardencoder(){
+        backboardEncoder.reset();
+    }
 
     @Override
     public void periodic() {