From b7f444a83afda033c471451eb6e337300c9ded81 Mon Sep 17 00:00:00 2001
From: theA-Train <146664346+theA-Train@users.noreply.github.com>
Date: Thu, 12 Feb 2026 09:44:22 -0500
Subject: [PATCH 1/9] deployintake now wraps setpivot

and also voltage sets pivot motor in
---
 subsystems/intake/command.py   | 53 ++++++++++++++++++++++++----------
 subsystems/intake/subsystem.py |  4 +--
 2 files changed, 39 insertions(+), 18 deletions(-)

diff --git a/subsystems/intake/command.py b/subsystems/intake/command.py
index 401b5d0..814b4a2 100644
--- a/subsystems/intake/command.py
+++ b/subsystems/intake/command.py
@@ -71,18 +71,17 @@ def isFinished(self) -> bool:
     def end(self, interrupted: bool):
         self.subsystem.stop_intake() 
 
-class SetPivotOut(commands2.Command):
+class SetPivotIn(commands2.Command):
     """
-    Set pivot motor to specified angle with voltage out
+    Set pivot motor to specified angle with voltage in
     """
-    def __init__(self, subsystem: Intake, voltage:float, angle: float):
+    def __init__(self, subsystem: Intake, angle: float):
         super().__init__()
         self.subsystem = subsystem
-        self.voltage = voltage
         self.angle = angle
 
     def initialize(self):
-        self.subsystem.set_pivot_out(self.voltage)
+        self.subsystem.set_pivot_motor_in(voltage_out)
         self.subsystem.pivot_running = True
 
     def execute(self):
@@ -98,22 +97,44 @@ def end(self, interrupted: bool):
         else:
             log.message("intake pivot interrupted")
 
-class DeployIntake(commands2.SequentialCommandGroup):
+
+class DeployIntake(commands2.Command):
     """
     Deploy intake by setting pivot to specificed angle and running intake
     """
-    def __init__(self, subsystem: Intake):
-        super().__init__(
-            SetPivot(subsystem, intake_deploy_angle),
-            RunIntake(subsystem)
-        )
+    def __init__(self, subsystem: Intake, angle: float):
+        super().__init__()
+        self.command = SetPivot(subsystem, intake_deploy_angle)
+
+    def initialize(self):
+        self.command.initialize()
+
+    def execute(self):
+        pass
+
+    def isFinished(self) -> bool:
+        return self.command.isFinished()
+    
+    def end(self, interrupted: bool):
+        self.command.end(interrupted)
+
 
 class DeployIntakeOut(commands2.SequentialCommandGroup):
     """
     Deploy intake by setting pivot to specified angle with voltageout
     """
-    def __init__(self, subsystem: Intake):
-        super().__init__(
-            SetPivotOut(subsystem, voltage_out, intake_deploy_angle),
-            RunIntake(subsystem)
-            )
\ No newline at end of file
+    def __init__(self, subsystem: Intake, angle: float):
+        super().__init__()
+        self.command = SetPivotIn(subsystem, intake_deploy_angle)
+
+    def initialize(self):
+        self.command.initialize()
+
+    def execute(self):
+        pass
+
+    def isFinished(self) -> bool:
+        return self.command.isFinished()
+    
+    def end(self, interrupted: bool):
+        self.command.end(interrupted)
\ No newline at end of file
diff --git a/subsystems/intake/subsystem.py b/subsystems/intake/subsystem.py
index ac72b32..30ef71d 100644
--- a/subsystems/intake/subsystem.py
+++ b/subsystems/intake/subsystem.py
@@ -85,12 +85,12 @@ def stop_pivot(self):
         self.pivot_request = controls.MotionMagicDutyCycle(0.0)
         self.pivot_motor.set_control(self.pivot_request)
         
-    def set_pivot_out(self, output:float):
+    def set_pivot_motor_in(self, output:float):
         """
         set pivot motor voltage
         """
         self.output = output
-        self.pivot_request = controls.VoltageOut(self.output)
+        self.pivot_request = controls.VoltageOut(-(self.output))
         self.pivot_motor.set_control(self.pivot_request)
     
     def is_at_angle(self, angle: float):

From c6b2831a3e7d2e4e61ba80e3b6fca71293a39a47 Mon Sep 17 00:00:00 2001
From: e-bauman <ebauman26@choate.edu>
Date: Fri, 13 Feb 2026 16:30:31 -0500
Subject: [PATCH 2/9] update deploy intake command

---
 subsystems/intake/command.py | 22 ++++------------------
 1 file changed, 4 insertions(+), 18 deletions(-)

diff --git a/subsystems/intake/command.py b/subsystems/intake/command.py
index 814b4a2..0ee8f3e 100644
--- a/subsystems/intake/command.py
+++ b/subsystems/intake/command.py
@@ -97,26 +97,12 @@ def end(self, interrupted: bool):
         else:
             log.message("intake pivot interrupted")
 
-
-class DeployIntake(commands2.Command):
+class DeployIntake(SetPivot):
     """
-    Deploy intake by setting pivot to specificed angle and running intake
+    Deploy the intake
     """
-    def __init__(self, subsystem: Intake, angle: float):
-        super().__init__()
-        self.command = SetPivot(subsystem, intake_deploy_angle)
-
-    def initialize(self):
-        self.command.initialize()
-
-    def execute(self):
-        pass
-
-    def isFinished(self) -> bool:
-        return self.command.isFinished()
-    
-    def end(self, interrupted: bool):
-        self.command.end(interrupted)
+    def __init__(self, subsystem: Intake):
+        super().__init__(subsystem, intake_deploy_angle)
 
 
 class DeployIntakeOut(commands2.SequentialCommandGroup):

From 03e16054ebdf6093e9609fe69e383f0ffebed696 Mon Sep 17 00:00:00 2001
From: e-bauman <ebauman26@choate.edu>
Date: Fri, 13 Feb 2026 16:51:17 -0500
Subject: [PATCH 3/9] cleanup some commands

---
 robotcontainer.py              | 9 ++++++---
 subsystems/climber/__init__.py | 2 +-
 subsystems/climber/command.py  | 2 +-
 3 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/robotcontainer.py b/robotcontainer.py
index 5550b59..fed6058 100644
--- a/robotcontainer.py
+++ b/robotcontainer.py
@@ -3,7 +3,7 @@
 # Open Source Software; you can modify and/or share it under the terms of
 # the WPILib BSD license file in the root directory of this project.
 #
-from commands2 import ParallelCommandGroup
+from commands2 import ParallelCommandGroup, SequentialCommandGroup
 from commands2.button import CommandXboxController, Trigger
 from commands2.sysid import SysIdRoutine
 
@@ -119,7 +119,10 @@ def configureButtonBindings(self) -> None:
         
         # deploy and run intake
         self.operator_controller.rightTrigger().whileTrue(
-            DeployIntake(self.intake)
+            SequentialCommandGroup(
+                DeployIntake(self.intake),
+                RunIntake(self.intake)
+            )
         )
 
         # run intake in reverse
@@ -139,7 +142,7 @@ def configureButtonBindings(self) -> None:
         
         # climb
         self.operator_controller.back().whileTrue(
-            Retract(self.climber)
+            RetractClimb(self.climber)
         )
 
         # Run SysId routines when holding back/start and X/Y.
diff --git a/subsystems/climber/__init__.py b/subsystems/climber/__init__.py
index a54f7cd..083eb64 100644
--- a/subsystems/climber/__init__.py
+++ b/subsystems/climber/__init__.py
@@ -1,2 +1,2 @@
 from .subsystem import Climber
-from .command import DeployClimbL1, Retract
\ No newline at end of file
+from .command import DeployClimbL1, RetractClimb
\ No newline at end of file
diff --git a/subsystems/climber/command.py b/subsystems/climber/command.py
index 5065de8..e1fe73b 100644
--- a/subsystems/climber/command.py
+++ b/subsystems/climber/command.py
@@ -30,7 +30,7 @@ def end(self, interrupted: bool):
         self.subsystem.moving = False
 
 
-class Retract(commands2.Command):
+class RetractClimb(commands2.Command):
     """
     lower climber to climb robot.
     uses set_voltage method from Climber subsystem.

From b32bfae0f23928136302744440ac8609a3bbc65b Mon Sep 17 00:00:00 2001
From: theA-Train <146664346+theA-Train@users.noreply.github.com>
Date: Wed, 18 Feb 2026 14:24:47 -0500
Subject: [PATCH 4/9] gear mechanism ratios + index command

---
 subsystems/Intake/constants.py |  3 +--
 subsystems/intake/command.py   | 22 ++++------------------
 subsystems/superstructure.py   | 13 +++++++++++++
 3 files changed, 18 insertions(+), 20 deletions(-)
 create mode 100644 subsystems/superstructure.py

diff --git a/subsystems/Intake/constants.py b/subsystems/Intake/constants.py
index fe7cf28..e848187 100644
--- a/subsystems/Intake/constants.py
+++ b/subsystems/Intake/constants.py
@@ -19,7 +19,6 @@
         configs.MotorOutputConfigs()
         .with_inverted(signals.InvertedValue.CLOCKWISE_POSITIVE)
         .with_neutral_mode(signals.NeutralModeValue.BRAKE)
-                
         )
 )
 
@@ -33,7 +32,7 @@
                 configs.FeedbackConfigs()
                 .with_feedback_remote_sensor_id(pivot_motor_id)
                 .with_feedback_sensor_source(signals.FeedbackSensorSourceValue.FUSED_CANCODER)
-                .with_sensor_to_mechanism_ratio(5) # placeholder
+                .with_sensor_to_mechanism_ratio(45)
             ).with_motion_magic(
                 configs.MotionMagicConfigs()
                 # .with_motion_magic_cruise_velocity(0) placeholder
diff --git a/subsystems/intake/command.py b/subsystems/intake/command.py
index 0ee8f3e..fdd75ba 100644
--- a/subsystems/intake/command.py
+++ b/subsystems/intake/command.py
@@ -96,7 +96,6 @@ def end(self, interrupted: bool):
             self.subsystem.pivot_running = False
         else:
             log.message("intake pivot interrupted")
-
 class DeployIntake(SetPivot):
     """
     Deploy the intake
@@ -104,23 +103,10 @@ class DeployIntake(SetPivot):
     def __init__(self, subsystem: Intake):
         super().__init__(subsystem, intake_deploy_angle)
 
-
-class DeployIntakeOut(commands2.SequentialCommandGroup):
+class DeployIntakeOut(SetPivotIn):
     """
-    Deploy intake by setting pivot to specified angle with voltageout
+    Deploy intake by setting pivot to specified angle with voltagein
     """
-    def __init__(self, subsystem: Intake, angle: float):
-        super().__init__()
-        self.command = SetPivotIn(subsystem, intake_deploy_angle)
-
-    def initialize(self):
-        self.command.initialize()
-
-    def execute(self):
-        pass
+    def __init__(self, subsystem: Intake):
+        super().__init__(subsystem, intake_deploy_angle)
 
-    def isFinished(self) -> bool:
-        return self.command.isFinished()
-    
-    def end(self, interrupted: bool):
-        self.command.end(interrupted)
\ No newline at end of file
diff --git a/subsystems/superstructure.py b/subsystems/superstructure.py
new file mode 100644
index 0000000..77cc434
--- /dev/null
+++ b/subsystems/superstructure.py
@@ -0,0 +1,13 @@
+import commands2
+from .constants import *
+from subsystems import indexer, intake
+from intake import SetPivot
+from indexer import RunIndexer
+from wpimath.filter import Debouncer
+
+class Index(commands2.ParallelDeadlineGroup):
+    def __init__(self, indexer: Indexer, intake: Intake):
+        super().__init__(
+            SetPivot(intake, intake_initial_angle),
+            RunIndexer(indexer)
+        )
\ No newline at end of file

From df69e74d7214f7eecb91a9458eed09ee4d42daae Mon Sep 17 00:00:00 2001
From: theA-Train <146664346+theA-Train@users.noreply.github.com>
Date: Thu, 19 Feb 2026 16:26:16 -0500
Subject: [PATCH 5/9] setpivotin for superstructure.py

---
 subsystems/Intake/constants.py |  4 +++-
 subsystems/intake/__init__.py  |  2 +-
 subsystems/intake/command.py   |  1 -
 subsystems/intake/subsystem.py | 15 +++++++++++++--
 subsystems/superstructure.py   | 11 +++++------
 5 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/subsystems/Intake/constants.py b/subsystems/Intake/constants.py
index e848187..4d9d2f7 100644
--- a/subsystems/Intake/constants.py
+++ b/subsystems/Intake/constants.py
@@ -9,9 +9,11 @@
 cancoder_id = 26 #placeholder
 angle_threshold = 2 #placeholder 
 fuel_speed = 0.0  #placeholder
-intake_deploy_angle = 45 #placeholder
+intake_deploy_angle = 90 
 intake_initial_angle = 0 #placeholder
 voltage_out = 3 #placeholder
+intake_maximum_angle = 127
+
 
 horizontal_motor_configs = (
     configs.TalonFXConfiguration()
diff --git a/subsystems/intake/__init__.py b/subsystems/intake/__init__.py
index 9aefef2..95bc597 100644
--- a/subsystems/intake/__init__.py
+++ b/subsystems/intake/__init__.py
@@ -1,3 +1,3 @@
 from .subsystem import Intake
-from .command import SetPivot, RunIntake, ReverseIntake, DeployIntake
+from .command import *
 from .constants import intake_initial_angle, intake_deploy_angle
\ No newline at end of file
diff --git a/subsystems/intake/command.py b/subsystems/intake/command.py
index fdd75ba..19fb3ab 100644
--- a/subsystems/intake/command.py
+++ b/subsystems/intake/command.py
@@ -70,7 +70,6 @@ def isFinished(self) -> bool:
     
     def end(self, interrupted: bool):
         self.subsystem.stop_intake() 
-
 class SetPivotIn(commands2.Command):
     """
     Set pivot motor to specified angle with voltage in
diff --git a/subsystems/intake/subsystem.py b/subsystems/intake/subsystem.py
index 30ef71d..af637b0 100644
--- a/subsystems/intake/subsystem.py
+++ b/subsystems/intake/subsystem.py
@@ -97,15 +97,26 @@ def is_at_angle(self, angle: float):
         """
         checks at angle 
         """
-        return abs(self.get_pivot_angle() - angle) < angle_threshold
+        self.angle = self.limit_pivot_angle(angle)
+        return abs(self.get_pivot_angle() - self.angle) < angle_threshold
 
     def set_pivot(self, angle: float):
         """
         set pivot motor angle
         """
-        self.target_angle = angle
+        self.target_angle = self.limit_pivot_angle(angle)
         self.pivot_request = controls.MotionMagicVoltage(angle)
         self.pivot_motor.set_control(self.pivot_request)
+
+    def limit_pivot_angle(self, angle: float):
+        """
+        limit angle request to max pivot motor
+        """
+        if angle >= intake_maximum_angle:
+            return intake_maximum_angle
+        elif angle <= intake_initial_angle:
+            return intake_initial_angle
+        return angle
     
     def update_table(self):
         """
diff --git a/subsystems/superstructure.py b/subsystems/superstructure.py
index 77cc434..96de335 100644
--- a/subsystems/superstructure.py
+++ b/subsystems/superstructure.py
@@ -1,13 +1,12 @@
 import commands2
-from .constants import *
+from subsystems.intake import constants
 from subsystems import indexer, intake
-from intake import SetPivot
-from indexer import RunIndexer
-from wpimath.filter import Debouncer
+from subsystems.intake import SetPivotIn
+from subsystems.indexer import RunIndexer
 
 class Index(commands2.ParallelDeadlineGroup):
-    def __init__(self, indexer: Indexer, intake: Intake):
+    def __init__(self, indexer: indexer.Indexer, intake: intake.Intake):
         super().__init__(
-            SetPivot(intake, intake_initial_angle),
+            SetPivotIn(intake, constants.intake_deploy_angle),
             RunIndexer(indexer)
         )
\ No newline at end of file

From 40946d2fd392bbf577da60427f11a7612d60de8c Mon Sep 17 00:00:00 2001
From: theA-Train <146664346+theA-Train@users.noreply.github.com>
Date: Fri, 20 Feb 2026 15:18:58 -0500
Subject: [PATCH 6/9] angle -> rotations

---
 subsystems/Intake/constants.py |  6 +++---
 subsystems/intake/__init__.py  |  2 +-
 subsystems/intake/command.py   |  6 +++---
 subsystems/intake/subsystem.py | 10 +++++-----
 4 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/subsystems/Intake/constants.py b/subsystems/Intake/constants.py
index 4d9d2f7..5baba82 100644
--- a/subsystems/Intake/constants.py
+++ b/subsystems/Intake/constants.py
@@ -9,10 +9,10 @@
 cancoder_id = 26 #placeholder
 angle_threshold = 2 #placeholder 
 fuel_speed = 0.0  #placeholder
-intake_deploy_angle = 90 
-intake_initial_angle = 0 #placeholder
+intake_retract_rotation = -0.25
+intake_deploy_rotation = 0 
 voltage_out = 3 #placeholder
-intake_maximum_angle = 127
+intake_maximum_rotation = -0.3527
 
 
 horizontal_motor_configs = (
diff --git a/subsystems/intake/__init__.py b/subsystems/intake/__init__.py
index 95bc597..99ac893 100644
--- a/subsystems/intake/__init__.py
+++ b/subsystems/intake/__init__.py
@@ -1,3 +1,3 @@
 from .subsystem import Intake
 from .command import *
-from .constants import intake_initial_angle, intake_deploy_angle
\ No newline at end of file
+from .constants import intake_retract_rotation, intake_deploy_rotation, intake_maximum_rotation
\ No newline at end of file
diff --git a/subsystems/intake/command.py b/subsystems/intake/command.py
index 19fb3ab..8d9c7fb 100644
--- a/subsystems/intake/command.py
+++ b/subsystems/intake/command.py
@@ -95,17 +95,17 @@ def end(self, interrupted: bool):
             self.subsystem.pivot_running = False
         else:
             log.message("intake pivot interrupted")
-class DeployIntake(SetPivot):
+class RetractIntake(SetPivot):
     """
     Deploy the intake
     """
     def __init__(self, subsystem: Intake):
-        super().__init__(subsystem, intake_deploy_angle)
+        super().__init__(subsystem, intake_retract_rotation)
 
 class DeployIntakeOut(SetPivotIn):
     """
     Deploy intake by setting pivot to specified angle with voltagein
     """
     def __init__(self, subsystem: Intake):
-        super().__init__(subsystem, intake_deploy_angle)
+        super().__init__(subsystem, intake_deploy_rotation)
 
diff --git a/subsystems/intake/subsystem.py b/subsystems/intake/subsystem.py
index af637b0..2a6e62f 100644
--- a/subsystems/intake/subsystem.py
+++ b/subsystems/intake/subsystem.py
@@ -18,7 +18,7 @@ def __init__(self):
         self.pivot_request = controls.MotionMagicVoltage(0.0)
         self.target_angle = 0.0    
 
-        self.pivot_motor.set_position(0.0)
+        self.pivot_motor.set_position(intake_deploy_rotation)
         self.intake_running = False
         self.pivot_running = False
 
@@ -112,10 +112,10 @@ def limit_pivot_angle(self, angle: float):
         """
         limit angle request to max pivot motor
         """
-        if angle >= intake_maximum_angle:
-            return intake_maximum_angle
-        elif angle <= intake_initial_angle:
-            return intake_initial_angle
+        if angle >= intake_maximum_rotation:
+            return intake_maximum_rotation
+        elif angle <= intake_retract_rotation:
+            return intake_retract_rotation
         return angle
     
     def update_table(self):

From a79d19314975b62b439b4aff5c7552f04569a460 Mon Sep 17 00:00:00 2001
From: theA-Train <146664346+theA-Train@users.noreply.github.com>
Date: Fri, 20 Feb 2026 16:31:02 -0500
Subject: [PATCH 7/9] organized constants

---
 subsystems/Intake/constants.py | 11 ++++++++---
 subsystems/intake/subsystem.py |  2 ++
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/subsystems/Intake/constants.py b/subsystems/Intake/constants.py
index 5baba82..17c7dd5 100644
--- a/subsystems/Intake/constants.py
+++ b/subsystems/Intake/constants.py
@@ -4,15 +4,20 @@
 from phoenix6.hardware import TalonFX
 from phoenix6.configs import TalonFXConfiguration
 
+# ids
 horizontal_motor_id = 25 #placeholder
 pivot_motor_id = 24 #placeholder
 cancoder_id = 26 #placeholder
+
+# constants
 angle_threshold = 2 #placeholder 
 fuel_speed = 0.0  #placeholder
-intake_retract_rotation = -0.25
-intake_deploy_rotation = 0 
 voltage_out = 3 #placeholder
-intake_maximum_rotation = -0.3527
+
+# 
+intake_retract_rotation = 0.25
+intake_deploy_rotation = 0 
+intake_maximum_rotation = 0.3527
 
 
 horizontal_motor_configs = (
diff --git a/subsystems/intake/subsystem.py b/subsystems/intake/subsystem.py
index 2a6e62f..99aa648 100644
--- a/subsystems/intake/subsystem.py
+++ b/subsystems/intake/subsystem.py
@@ -18,7 +18,9 @@ def __init__(self):
         self.pivot_request = controls.MotionMagicVoltage(0.0)
         self.target_angle = 0.0    
 
+        #initial zero
         self.pivot_motor.set_position(intake_deploy_rotation)
+        
         self.intake_running = False
         self.pivot_running = False
 

From d3a74f75cbf09fdc37e2daf821bf5648c0db9164 Mon Sep 17 00:00:00 2001
From: e-bauman <ebauman26@choate.edu>
Date: Mon, 23 Feb 2026 09:08:23 -0500
Subject: [PATCH 8/9] final intake changes

---
 robotcontainer.py              |  6 ++----
 subsystems/Intake/constants.py | 23 +++++++++-------------
 subsystems/intake/__init__.py  |  2 +-
 subsystems/intake/command.py   | 34 ++++++++++++++++++++-------------
 subsystems/intake/subsystem.py | 35 +++++++++++++++++-----------------
 subsystems/superstructure.py   | 14 ++++++--------
 6 files changed, 56 insertions(+), 58 deletions(-)

diff --git a/robotcontainer.py b/robotcontainer.py
index fed6058..6d0cb2f 100644
--- a/robotcontainer.py
+++ b/robotcontainer.py
@@ -16,8 +16,6 @@
 
 import autos
 from utils import math_utils
-
-from subsystems import *
 from typing import Callable
 
 class RobotContainer:
@@ -127,12 +125,12 @@ def configureButtonBindings(self) -> None:
 
         # run intake in reverse
         self.operator_controller.leftTrigger().whileTrue(
-            ReverseIntake(self.intake).onlyIf(lambda: self.intake.is_at_angle(intake_deploy_angle))
+            ReverseIntake(self.intake)
         )
 
         # retract intake
         self.operator_controller.leftBumper().onTrue(
-            SetPivot(self.intake, intake_initial_angle)
+            RetractIntake(self.intake)
         )
 
         # deploy climb
diff --git a/subsystems/Intake/constants.py b/subsystems/Intake/constants.py
index 17c7dd5..c75e0ba 100644
--- a/subsystems/Intake/constants.py
+++ b/subsystems/Intake/constants.py
@@ -7,16 +7,15 @@
 # ids
 horizontal_motor_id = 25 #placeholder
 pivot_motor_id = 24 #placeholder
-cancoder_id = 26 #placeholder
 
 # constants
-angle_threshold = 2 #placeholder 
-fuel_speed = 0.0  #placeholder
+angle_threshold = 0.01 #placeholder 
+fuel_speed = 0.75  #placeholder
 voltage_out = 3 #placeholder
 
 # 
 intake_retract_rotation = 0.25
-intake_deploy_rotation = 0 
+intake_deploy_rotation = 0
 intake_maximum_rotation = 0.3527
 
 
@@ -26,7 +25,10 @@
         configs.MotorOutputConfigs()
         .with_inverted(signals.InvertedValue.CLOCKWISE_POSITIVE)
         .with_neutral_mode(signals.NeutralModeValue.BRAKE)
-        )
+    ).with_current_limits(
+        configs.CurrentLimitsConfigs()
+        .with_stator_current_limit(80) #placeholder
+    )
 )
 
 pivot_motor_configs = (
@@ -37,8 +39,7 @@
                 .with_neutral_mode(signals.NeutralModeValue.BRAKE)
             ).with_feedback(
                 configs.FeedbackConfigs()
-                .with_feedback_remote_sensor_id(pivot_motor_id)
-                .with_feedback_sensor_source(signals.FeedbackSensorSourceValue.FUSED_CANCODER)
+                .with_feedback_sensor_source(signals.FeedbackSensorSourceValue.ROTOR_SENSOR)
                 .with_sensor_to_mechanism_ratio(45)
             ).with_motion_magic(
                 configs.MotionMagicConfigs()
@@ -52,15 +53,9 @@
                 .with_k_v(0)
                 .with_k_a(0)
                 .with_gravity_type(signals.GravityTypeValue.ARM_COSINE)
-            ).with_software_limit_switch(
-                configs.SoftwareLimitSwitchConfigs()
-                .with_reverse_soft_limit_enable(True)
-                .with_reverse_soft_limit_threshold(0.1) #placeholder
-                .with_forward_soft_limit_enable(True)
-                .with_forward_soft_limit_threshold(0.2) #placeholder
             ).with_current_limits(
                 configs.CurrentLimitsConfigs()
-                .with_stator_current_limit(0.4) #placeholder found experimentally
+                .with_stator_current_limit(60) #placeholder found experimentally
             )
 
         )
\ No newline at end of file
diff --git a/subsystems/intake/__init__.py b/subsystems/intake/__init__.py
index 99ac893..998bc76 100644
--- a/subsystems/intake/__init__.py
+++ b/subsystems/intake/__init__.py
@@ -1,3 +1,3 @@
 from .subsystem import Intake
-from .command import *
+from .command import IntakeIndex, RunIntake, DeployIntake, RetractIntake, ReverseIntake
 from .constants import intake_retract_rotation, intake_deploy_rotation, intake_maximum_rotation
\ No newline at end of file
diff --git a/subsystems/intake/command.py b/subsystems/intake/command.py
index 8d9c7fb..ed695bf 100644
--- a/subsystems/intake/command.py
+++ b/subsystems/intake/command.py
@@ -3,6 +3,7 @@
 from .constants import *
 from enum import Enum
 from utils import local_logger
+from phoenix6 import units
 
 log = local_logger.LocalLogger("intake")
 
@@ -10,7 +11,7 @@ class SetPivot(commands2.Command):
     """
     Setpivot to specificed angle 
     """
-    def __init__(self, subsystem: Intake, angle: float):
+    def __init__(self, subsystem: Intake, angle: units.rotation):
         super().__init__()
         self.subsystem = subsystem
         self.angle = angle
@@ -28,7 +29,6 @@ def isFinished(self) -> bool:
     
     def end(self, interrupted: bool):
         if not interrupted:
-            self.subsystem.stop_pivot()
             self.subsystem.pivot_running = False
         else:
             log.message("intake pivot interrupted")
@@ -69,12 +69,13 @@ def isFinished(self) -> bool:
         return False
     
     def end(self, interrupted: bool):
-        self.subsystem.stop_intake() 
+        self.subsystem.stop_intake()
+
 class SetPivotIn(commands2.Command):
     """
     Set pivot motor to specified angle with voltage in
     """
-    def __init__(self, subsystem: Intake, angle: float):
+    def __init__(self, subsystem: Intake, angle: units.rotation):
         super().__init__()
         self.subsystem = subsystem
         self.angle = angle
@@ -87,25 +88,32 @@ def execute(self):
         pass
 
     def isFinished(self) -> bool:
-        return self.subsystem.is_at_angle(self.angle)
+        return self.subsystem.get_pivot_angle() >= self.angle
     
     def end(self, interrupted: bool):
-        if not interrupted:
-            self.subsystem.stop_pivot()
-            self.subsystem.pivot_running = False
-        else:
+        self.subsystem.stop_pivot()
+        self.subsystem.pivot_running = False
+        if interrupted:
             log.message("intake pivot interrupted")
+
 class RetractIntake(SetPivot):
     """
-    Deploy the intake
+    Fully retract the intake
     """
     def __init__(self, subsystem: Intake):
-        super().__init__(subsystem, intake_retract_rotation)
+        super().__init__(subsystem, intake_maximum_rotation)
 
-class DeployIntakeOut(SetPivotIn):
+class DeployIntake(SetPivot):
     """
-    Deploy intake by setting pivot to specified angle with voltagein
+    Fully deploy intake
     """
     def __init__(self, subsystem: Intake):
         super().__init__(subsystem, intake_deploy_rotation)
 
+class IntakeIndex(SetPivotIn):
+    """
+    Index with the intake by setting pivot to specified angle with voltagein
+    """
+    def __init__(self, subsystem: Intake):
+        super().__init__(subsystem, intake_retract_rotation)
+
diff --git a/subsystems/intake/subsystem.py b/subsystems/intake/subsystem.py
index 99aa648..4b0e2f9 100644
--- a/subsystems/intake/subsystem.py
+++ b/subsystems/intake/subsystem.py
@@ -1,5 +1,5 @@
 from phoenix6.hardware import CANcoder
-from phoenix6 import StatusSignal, controls, configs, hardware, signals 
+from phoenix6 import StatusSignal, controls, configs, hardware, signals, units
 import math
 import commands2
 from .constants import *
@@ -12,10 +12,11 @@ def __init__(self):
         # self.encoder: CANcoder = CANcoder()
 
         self.horizontal_motor = hardware.TalonFX(horizontal_motor_id)
-
         self.pivot_motor = hardware.TalonFX(pivot_motor_id)
+
         self.horizontal_motor_out = controls.DutyCycleOut(0)
-        self.pivot_request = controls.MotionMagicVoltage(0.0)
+        self.pivot_motion_magic = controls.MotionMagicVoltage(0.0)
+        self.pivot_voltage = controls.VoltageOut(0)
         self.target_angle = 0.0    
 
         #initial zero
@@ -28,7 +29,6 @@ def __init__(self):
         self.pivot_motor.configurator.apply(pivot_motor_configs)
         self.table = ntcore.NetworkTableInstance.getDefault().getTable("Intake")
         self.anglepub = self.table.getDoubleTopic("pivot angle").publish()
-        # self.zeroedpub = self.table.getBooleanTopic("pivot zeroed").publish()
         self.targetpub = self.table.getDoubleTopic("target angle").publish()
         self.pivot_supply_currentpub = self.table.getDoubleTopic("pivot supply current").publish()
         self.horizontal_motor_currentpub = self.table.getDoubleTopic("horizontal motor current").publish()
@@ -74,7 +74,7 @@ def get_horizontal_motor_supply_current(self):
         """
         return self.horizontal_motor.get_supply_current()
     
-    def get_pivot_angle(self):
+    def get_pivot_angle(self) -> units.rotation:
         """
         get rotations of pivot motor
         """
@@ -84,33 +84,29 @@ def stop_pivot(self):
         """
         stop pivot motor
         """
-        self.pivot_request = controls.MotionMagicDutyCycle(0.0)
-        self.pivot_motor.set_control(self.pivot_request)
+        self.pivot_motor.set_control(self.pivot_voltage.with_output(0))
         
-    def set_pivot_motor_in(self, output:float):
+    def set_pivot_motor_in(self, output: units.volt):
         """
         set pivot motor voltage
         """
         self.output = output
-        self.pivot_request = controls.VoltageOut(-(self.output))
-        self.pivot_motor.set_control(self.pivot_request)
+        self.pivot_motor.set_control(self.pivot_voltage.with_output(self.output))
     
-    def is_at_angle(self, angle: float):
+    def is_at_angle(self, angle: units.rotation):
         """
         checks at angle 
         """
-        self.angle = self.limit_pivot_angle(angle)
-        return abs(self.get_pivot_angle() - self.angle) < angle_threshold
+        return abs(self.get_pivot_angle() - angle) < angle_threshold
 
-    def set_pivot(self, angle: float):
+    def set_pivot(self, angle: units.rotation):
         """
         set pivot motor angle
         """
         self.target_angle = self.limit_pivot_angle(angle)
-        self.pivot_request = controls.MotionMagicVoltage(angle)
-        self.pivot_motor.set_control(self.pivot_request)
+        self.pivot_motor.set_control(self.pivot_motion_magic.with_position(self.target_angle))
 
-    def limit_pivot_angle(self, angle: float):
+    def limit_pivot_angle(self, angle: units.rotation):
         """
         limit angle request to max pivot motor
         """
@@ -129,4 +125,7 @@ def update_table(self):
         self.pivot_supply_currentpub.set(self.get_pivot_motor_supply_current().value)
         self.intake_runningpub.set(self.intake_running)
         self.horizontal_motor_currentpub.set(self.get_horizontal_motor_supply_current().value)
-        self.pivot_stator_currentpub.set(self.get_pivot_motor_stator_current().value)
\ No newline at end of file
+        self.pivot_stator_currentpub.set(self.get_pivot_motor_stator_current().value)
+
+    def periodic(self):
+        self.update_table()
\ No newline at end of file
diff --git a/subsystems/superstructure.py b/subsystems/superstructure.py
index 96de335..38d6ce2 100644
--- a/subsystems/superstructure.py
+++ b/subsystems/superstructure.py
@@ -1,12 +1,10 @@
-import commands2
-from subsystems.intake import constants
-from subsystems import indexer, intake
-from subsystems.intake import SetPivotIn
-from subsystems.indexer import RunIndexer
+from commands2 import ParallelCommandGroup
+from .indexer import RunIndexer, Indexer
+from .intake import IntakeIndex, Intake
 
-class Index(commands2.ParallelDeadlineGroup):
-    def __init__(self, indexer: indexer.Indexer, intake: intake.Intake):
+class Index(ParallelCommandGroup):
+    def __init__(self, indexer: Indexer, intake: Intake):
         super().__init__(
-            SetPivotIn(intake, constants.intake_deploy_angle),
+            IntakeIndex(intake),
             RunIndexer(indexer)
         )
\ No newline at end of file

From 8564155207c5c3c304438b0e8ce14b5be8953a8c Mon Sep 17 00:00:00 2001
From: e-bauman <ebauman26@choate.edu>
Date: Mon, 23 Feb 2026 09:37:23 -0500
Subject: [PATCH 9/9] switch indexing command

---
 robotcontainer.py      | 2 +-
 subsystems/__init__.py | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/robotcontainer.py b/robotcontainer.py
index bd31bb9..1587ca6 100644
--- a/robotcontainer.py
+++ b/robotcontainer.py
@@ -145,7 +145,7 @@ def configureButtonBindings(self) -> None:
         )
 
         Trigger(lambda: self.drivetrain.ready_to_shoot and self.shooter.ready_to_shoot()).whileTrue(
-            RunIndexer(self.indexer)
+            Index(self.indexer, self.intake)
         )
 
         # drive in "snake mode" (intake faces direction of travel)
diff --git a/subsystems/__init__.py b/subsystems/__init__.py
index 8f9504a..93c7372 100644
--- a/subsystems/__init__.py
+++ b/subsystems/__init__.py
@@ -3,3 +3,4 @@
 from .climber import *
 from .indexer import *
 from .drivetrain import *
+from superstructure import Index
\ No newline at end of file