2

src/main/java/frc/robot/controls/ClimberControls.java

@@ -24,9 +24,9 @@ public class ClimberControls {
         return Commands.run(()->{
             //climber.climbUp();
                 if(controller.getRightY() < -0.5){
-                    climber.climbDownNonStop();
-                } else if(controller.getRightY() > 0.5){
                     climber.climbUpNonStop();
+                } else if(controller.getRightY() > 0.5){
+                    climber.climbDownNonStop();
                 } else if (controller.y().getAsBoolean()) {
                     climber.climbUp();
                 } else if (controller.x().getAsBoolean()) {

src/main/java/frc/robot/controls/DriveControls.java

@@ -12,7 +12,6 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Constants;
 import frc.robot.RobotStatusManager;

src/main/java/frc/robot/controls/IntakerControls.java

@@ -76,9 +76,9 @@ public class IntakerControls {
         IntakerSubsystem.setIntakerGetterSpeed(getterspeed);
         
         if(controller.getLeftY() < -0.5){
-                    IntakerSubsystem.IntakerDownNonStop();
-            } else if(controller.getLeftY() > 0.5){
                     IntakerSubsystem.IntakerUpNonStop();
+            } else if(controller.getLeftY() > 0.5){
+                    IntakerSubsystem.IntakerDownNonStop();
             } else {
                     IntakerSubsystem.stopIntakerotater();
             }

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

@@ -97,7 +97,7 @@ public class IntakerSubsystem extends SubsystemBase{
     public void IntakerUpNonStop(){
         double currentPosition = getIntakerotaterPosition();
         if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
-        intakerotater.set(0.1);}
+        intakerotater.set(0.2);}
         
         // if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
         //     intakerotater.setControl(velocityRequest.withVelocity(-Constants.Intaker.intakeRotaterVelocity));