changes

1 files changed, 7 insertions, 5 deletions

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 41620bb..036aae0 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -11,8 +11,8 @@ import frc.robot.Constants;
 
 public class Intake extends SubsystemBase 
 {
-    public static final CANSparkMax m_intakeT = new CANSparkMax(Constants.intakeT_ID, MotorType.kBrushless);
-    public static final CANSparkMax m_intakeD = new CANSparkMax(Constants.intakeD_ID, MotorType.kBrushless);
+    private final CANSparkMax m_intakeT = new CANSparkMax(Constants.intakeT_ID, MotorType.kBrushless);
+    private final CANSparkMax m_intakeD = new CANSparkMax(Constants.intakeD_ID, MotorType.kBrushless);
     private final RelativeEncoder m_intakeD_encoder = m_intakeD.getEncoder();
 
     public Intake() 
@@ -26,17 +26,19 @@ public class Intake extends SubsystemBase
         atPercentage(perc, perc); 
     }
 
+    // perc is between 0.0 and 1.0
     public void atPercentage(double upPerc, double downPerc) 
     {
         m_intakeT.set(upPerc);
         m_intakeD.set(downPerc);
     }
+
     public void shoot() 
     {
-        if (m_intakeD_encoder.getVelocity() > 2000) {
-            m_intakeT.set(1);
+        if (Math.abs(m_intakeD_encoder.getVelocity()) > 2000) {
+            m_intakeT.set(-0.5);
         }
-        m_intakeD.set(1);
+        m_intakeD.set(-0.5);
     }
 
     @Override