Merge branch 'main' of https://github.com/team581/frc-2026

Author: jordanjcoderman

comp-bot/src/main/java/frc/robot/deploy/DeployState.java

@@ -7,8 +7,8 @@ public enum DeployState {
   INTAKE(DeployConfig.MAX_LENGTH - 0.25),
   STOW(1.0),
   HOPPER_SHUFFLING_OUT(INTAKE.getLength()),
-  HOPPER_SHUFFLING_IN(HOPPER_SHUFFLING_OUT.getLength() - 4.0),
-  HOPPER_SHUFFLING_FINISH(6.0),
+  HOPPER_SHUFFLING_IN(HOPPER_SHUFFLING_OUT.getLength()),
+  HOPPER_SHUFFLING_FINISH(HOPPER_SHUFFLING_OUT.getLength()),
   HOME_INWARD(0),
   HOME_OUTWARD(DeployConfig.MAX_LENGTH),
   UNHOMED(0);

comp-bot/src/main/java/frc/robot/dye_rotor/DyeRotorConfig.java

@@ -13,7 +13,6 @@
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
 import edu.wpi.first.networktables.DoubleSubscriber;
-import frc.robot.config.RobotKind;
 import java.util.Map;
 
 public class DyeRotorConfig {
@@ -59,11 +58,7 @@ public class DyeRotorConfig {
               new MotorOutputConfigs()
                   .withNeutralMode(NeutralModeValue.Coast)
                   .withInverted(InvertedValue.Clockwise_Positive))
-          .withSlot0(
-              new Slot0Configs()
-                  .withKP(10.0)
-                  .withKV(4.65)
-                  .withKS(0.0));
+          .withSlot0(new Slot0Configs().withKP(10.0).withKV(4.65).withKS(0.0));
 
   public static final TalonFXConfiguration VERTICAL_MOTOR_CONFIG =
       new TalonFXConfiguration()

comp-bot/src/main/java/frc/robot/intake/IntakeState.java

@@ -4,7 +4,7 @@
 import edu.wpi.first.networktables.DoubleSubscriber;
 
 public enum IntakeState {
-  INTAKE(10),
+  INTAKE(12),
   INTAKE_AUTO(12),
   IDLE(0),
   SHOOT(3),

comp-bot/src/main/java/frc/robot/robot_manager/RobotManager.java

@@ -1290,7 +1290,7 @@ protected void collectInputs() {
     double driveDirection = swerveVector.getDegrees();
     drivingToIntake =
         intake.getState().isIntaking()
-            && MathUtil.isNear(robotRotation, driveDirection, 90.0, -180, 180)
+            && MathUtil.isNear(robotRotation, driveDirection, 120.0, -180, 180)
             && MathHelpers.getLinearVelocity(speeds) > 1e-5;
     isInScoringZone =
         !health.isLocalizationHealthy()

comp-bot/src/main/java/frc/robot/shooter/ShooterConfig.java

@@ -85,7 +85,7 @@ public class ShooterConfig {
                   .withNeutralMode(NeutralModeValue.Coast)
                   .withInverted(InvertedValue.CounterClockwise_Positive))
           .withSlot0(
-              new Slot0Configs().withKP(RobotKind.IS_COMP_BOT ? 0.7 : 0.0).withKV(0.127)
+              new Slot0Configs().withKP(RobotKind.IS_COMP_BOT ? 0.55 : 0.7).withKV(0.127)
               // .withKD(0.00015)
               )
           .withVoltage(new VoltageConfigs().withPeakReverseVoltage(0))
@@ -111,7 +111,7 @@ public class ShooterConfig {
                   .withNeutralMode(NeutralModeValue.Coast)
                   .withInverted(InvertedValue.Clockwise_Positive))
           .withSlot0(
-              new Slot0Configs().withKP(RobotKind.IS_COMP_BOT ? 0.7 : 0.0).withKV(0.127)
+              new Slot0Configs().withKP(RobotKind.IS_COMP_BOT ? 0.55 : 0.7).withKV(0.127)
               // .withKD(0.00015)
               )
           .withVoltage(new VoltageConfigs().withPeakReverseVoltage(0))