From 72a07b3d7af5e904a8cfe3da0ab6e28f61dffae1 Mon Sep 17 00:00:00 2001
From: Tylr-J42 <84476781+Tylr-J42@users.noreply.github.com>
Date: Sat, 14 Mar 2026 09:46:49 -0400
Subject: [PATCH] second intake motor

---
 .../constants/IntakeRollerConstants.java      | 14 ++++++++++---
 .../frc/robot/subsystems/IntakeRoller.java    | 20 +++++++++++++------
 2 files changed, 25 insertions(+), 9 deletions(-)

diff --git a/src/main/java/frc/robot/constants/IntakeRollerConstants.java b/src/main/java/frc/robot/constants/IntakeRollerConstants.java
index 3558a1a..205d968 100644
--- a/src/main/java/frc/robot/constants/IntakeRollerConstants.java
+++ b/src/main/java/frc/robot/constants/IntakeRollerConstants.java
@@ -5,11 +5,13 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 public class IntakeRollerConstants {
     // TODO Real values
-    public static final int kMotorCANID = 20;
+    public static final int kRightMotorCANID = 20;
+    public static final int kLeftMotorCANID = 1;
 
     public static final int kCurrentLimit = 65;
 
-    public static final boolean kInvertMotors = true;
+    public static final boolean kInvertLeftMotor = true;
+    public static final boolean kInvertRightMotor = false;
 
     public static final double kSpeed = 1;
 
@@ -18,11 +20,17 @@ public class IntakeRollerConstants {
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
 
     public static final SparkMaxConfig leftMotorConfig = new SparkMaxConfig();
+    public static final SparkMaxConfig rightMotorConfig = new SparkMaxConfig();
 
     static {
         leftMotorConfig
             .idleMode(kIdleMode)
             .smartCurrentLimit(kCurrentLimit)
-            .inverted(kInvertMotors);
+            .inverted(kInvertLeftMotor);
+        rightMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertRightMotor)
+            .follow(kRightMotorCANID);
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/IntakeRoller.java b/src/main/java/frc/robot/subsystems/IntakeRoller.java
index 509c185..2f75eab 100644
--- a/src/main/java/frc/robot/subsystems/IntakeRoller.java
+++ b/src/main/java/frc/robot/subsystems/IntakeRoller.java
@@ -10,33 +10,41 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.IntakeRollerConstants;
 
 public class IntakeRoller extends SubsystemBase {
-    private SparkMax motor;
+    private SparkMax leftMotor;
+    private SparkMax rightMotor;
 
     public IntakeRoller() {
-        motor = new SparkMax(IntakeRollerConstants.kMotorCANID, MotorType.kBrushless);
+        leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
+        rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
 
-        motor.configure(
+        leftMotor.configure(
             IntakeRollerConstants.leftMotorConfig, 
             ResetMode.kResetSafeParameters, 
             PersistMode.kPersistParameters
         );
+
+        rightMotor.configure(
+            IntakeRollerConstants.rightMotorConfig,
+            ResetMode.kResetSafeParameters,
+            PersistMode.kPersistParameters
+        );
     }
 
     public Command runIn() {
         return run(() -> {
-            motor.set(IntakeRollerConstants.kSpeed*0.8);
+            leftMotor.set(IntakeRollerConstants.kSpeed*0.8);
         });
     }
 
     public Command runOut() {
         return run(() -> {
-            motor.set(-IntakeRollerConstants.kSpeed);
+            leftMotor.set(-IntakeRollerConstants.kSpeed);
         });
     }
 
     public Command stop() {
         return run(() -> {
-            motor.set(0);
+            leftMotor.set(0);
         });
     }