From 74bf1b992dd0aead081886aadb968eed765f38f9 Mon Sep 17 00:00:00 2001
From: OnDYCLaptop <dingdoorfiah@gamil.com>
Date: Sat, 7 Mar 2026 00:09:57 +0800
Subject: [PATCH] 2

---
 src/main/java/frc/robot/controls/ClimberControls.java    | 4 ++--
 src/main/java/frc/robot/controls/DriveControls.java      | 1 -
 src/main/java/frc/robot/controls/IntakerControls.java    | 4 ++--
 src/main/java/frc/robot/subsystems/IntakerSubsystem.java | 2 +-
 4 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/controls/ClimberControls.java b/src/main/java/frc/robot/controls/ClimberControls.java
index 543aff9..6ee58ab 100644
--- a/src/main/java/frc/robot/controls/ClimberControls.java
+++ b/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()) {
diff --git a/src/main/java/frc/robot/controls/DriveControls.java b/src/main/java/frc/robot/controls/DriveControls.java
index cf3d087..c16afb7 100644
--- a/src/main/java/frc/robot/controls/DriveControls.java
+++ b/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;
diff --git a/src/main/java/frc/robot/controls/IntakerControls.java b/src/main/java/frc/robot/controls/IntakerControls.java
index b93de5b..e63b99d 100644
--- a/src/main/java/frc/robot/controls/IntakerControls.java
+++ b/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();
             }
diff --git a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
index 603947b..599d16f 100644
--- a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
+++ b/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));