Fixed Conveyor Direction

STILL NEEDS REVIEW WITH BOTH BELTS FUNCTIONAL! But it seems that the problem is fixed.
OakvilleDynamics · Mar 9, 2024 · 5f8df64 · 5f8df64
1 parent a35a082
commit 5f8df64
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/commands/ConveyorCommand.java b/src/main/java/frc/robot/commands/ConveyorCommand.java
@@ -26,8 +26,9 @@ public void initialize() {}
   @Override
   public void execute() {
     if (ConveyorJoystick.getRawButton(5) == true | ConveyorJoystick.getRawButton(3) == true) {
-      m_ConveyorSubsystem.enableConveyor();
-    } else if (ConveyorJoystick.getRawButton(6) == true | ConveyorJoystick.getRawButton(4)) {
+      m_ConveyorSubsystem.intakeConveyor();
+    } else if (ConveyorJoystick.getRawButton(6) == true
+        | ConveyorJoystick.getRawButton(4) == true) {
       m_ConveyorSubsystem.reverseConveyor();
       System.out.println("Conveyor Moving in Reverse");
     } else {
@@ -38,7 +39,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     m_ConveyorSubsystem.disableConveyor();
-    m_ConveyorSubsystem.enableConveyor();
+    m_ConveyorSubsystem.intakeConveyor();
   }
 
   @Override

diff --git a/src/main/java/frc/robot/subsystems/Conveyor.java b/src/main/java/frc/robot/subsystems/Conveyor.java
@@ -23,9 +23,9 @@ public Conveyor() {
   }
 
   /** Sets the Conveyor motors to 100% power. */
-  public void enableConveyor() {
-    conveyorMotor1.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
-    conveyorMotor2.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
+  public void intakeConveyor() {
+    conveyorMotor1.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor2.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
   }
 
   /** Sets the Conveyor motors to 0% power. */
@@ -36,8 +36,8 @@ public void disableConveyor() {
 
   /** Sets the Conveyor motors to -100% power. (Reverse direction) */
   public void reverseConveyor() {
-    conveyorMotor1.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
-    conveyorMotor2.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor1.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor2.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
   }
 
   @Override