From 77f2c54a9013ac341d5568061905b8f697fab33f Mon Sep 17 00:00:00 2001
From: Tylr-J42 <Tyler.Jacques00@gmail.com>
Date: Thu, 5 Mar 2026 00:28:37 -0500
Subject: [PATCH] more bindings n stuff

---
 src/main/java/frc/robot/RobotContainer.java                 | 4 ++--
 src/main/java/frc/robot/constants/IntakePivotConstants.java | 4 ++--
 src/main/java/frc/robot/constants/ShooterConstants.java     | 3 +--
 src/main/java/frc/robot/subsystems/IntakePivot.java         | 1 +
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1dee16b..66e85bf 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -83,8 +83,8 @@ public class RobotContainer {
         shiftTimer = new Timer();
         shiftTimer.reset();
 
-        //configureBindings();
-        testConfigureBindings();
+        configureBindings();
+        //testConfigureBindings();
         configureShiftDisplay();
 
         if(AutoConstants.kAutoConfigOk) {
diff --git a/src/main/java/frc/robot/constants/IntakePivotConstants.java b/src/main/java/frc/robot/constants/IntakePivotConstants.java
index e7fefca..3d11fba 100644
--- a/src/main/java/frc/robot/constants/IntakePivotConstants.java
+++ b/src/main/java/frc/robot/constants/IntakePivotConstants.java
@@ -51,7 +51,7 @@ public class IntakePivotConstants {
         KLeftMotorConfig
             .idleMode(kIdleMode)
             .smartCurrentLimit(kCurrentLimit)
-            .inverted(kInvertMotors);
+            .inverted(false);
         KLeftMotorConfig.encoder
             .positionConversionFactor(kConversionFactor)
             .velocityConversionFactor(kConversionFactor / 60);
@@ -67,7 +67,7 @@ public class IntakePivotConstants {
         kRightMotorConfig
             .idleMode(kIdleMode)
             .smartCurrentLimit(kCurrentLimit)
-            .inverted(kInvertMotors)
+            .inverted(false)
             .follow(kLeftMotorCANID);
     }
 }
diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java
index d7e1183..b946737 100644
--- a/src/main/java/frc/robot/constants/ShooterConstants.java
+++ b/src/main/java/frc/robot/constants/ShooterConstants.java
@@ -9,12 +9,11 @@ import edu.wpi.first.math.util.Units;
 public class ShooterConstants {
     public enum ShooterSpeeds {
         kHubSpeed(3000.0),
-        kFeedSpeed(5000.0);
+        kFeedSpeed(5000.0),
         kIdleSpeed(750.0);
 
         private double speedMPS;
         private double speedRPM;
-        private double kIdleSpeed;
 
         private ShooterSpeeds(double speedRPM) {
             this.speedMPS = speedRPM * kWheelDiameter*Math.PI;
diff --git a/src/main/java/frc/robot/subsystems/IntakePivot.java b/src/main/java/frc/robot/subsystems/IntakePivot.java
index d4626f6..1180b4f 100644
--- a/src/main/java/frc/robot/subsystems/IntakePivot.java
+++ b/src/main/java/frc/robot/subsystems/IntakePivot.java
@@ -76,6 +76,7 @@ public class IntakePivot extends SubsystemBase {
             currentTargetPosition = null;
             
             leftMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
+            rightMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
         });
     }