fix(intake): Improve intake tune.

Author: haydenheroux

src/main/java/frc/lib/controller/VelocityControllerIO.java

@@ -57,6 +57,16 @@ public static void addToShuffleboard(
     velocityController.addDouble(
         "Acceleration (dpsps)",
         () -> Units.rotationsToDegrees(values.accelerationRotationsPerSecondPerSecond));
+    velocityController.addDouble(
+        "Velocity (rps)", () -> values.velocityRotationsPerSecond);
+    velocityController.addDouble(
+        "Acceleration (rpsps)",
+        () -> values.accelerationRotationsPerSecondPerSecond);
+    velocityController.addDouble(
+        "Velocity (rpm)", () -> values.velocityRotationsPerSecond * 60);
+    velocityController.addDouble(
+        "Acceleration (rpmpm)",
+        () -> values.accelerationRotationsPerSecondPerSecond * 60);
     velocityController.addDouble("Voltage (V)", () -> values.motorVolts);
     velocityController.addDouble("Current (A)", () -> values.motorAmps);
   }

src/main/java/frc/robot/RobotConstants.java

@@ -47,5 +47,5 @@ public enum Subsystem {
       EnumSet.of(
           Subsystem.ARM, Subsystem.INTAKE, Subsystem.ODOMETRY, Subsystem.SHOOTER, Subsystem.SWERVE);
 
-  public static final Set<Subsystem> REAL_SUBSYSTEMS = EnumSet.of(Subsystem.ARM);
+  public static final Set<Subsystem> REAL_SUBSYSTEMS = EnumSet.of(Subsystem.INTAKE);
 }

src/main/java/frc/robot/intake/IntakeConstants.java

@@ -17,6 +17,7 @@ public static class FrontRollerConstants {
     static {
       PIDF.kS = 0.13;
       PIDF.kV = 0.1683;
+      PIDF.kP = 0.1;
     }
 
     /** Front roller's controller constants. */
@@ -25,7 +26,7 @@ public static class FrontRollerConstants {
 
     static {
       CONTROLLER_CONSTANTS.ccwPositive = false;
-      CONTROLLER_CONSTANTS.neutralBrake = true;
+      CONTROLLER_CONSTANTS.neutralBrake = false;
       CONTROLLER_CONSTANTS.sensorToMechanismRatio = 24.0 / 16.0;
     }
 
@@ -38,14 +39,15 @@ public static class FrontRollerConstants {
   /** Constants for the back roller. */
   public static class BackRollerConstants {
     /** Back roller's CAN. */
-    public static final CAN CAN = new CAN(50);
+    public static final CAN CAN = new CAN(40);
 
     /** Back roller's PIDF constants. */
     public static final PIDFConstants PIDF = new PIDFConstants();
 
     static {
       PIDF.kS = 0.13;
       PIDF.kV = 0.1759;
+      PIDF.kP = 0.1;
     }
 
     /** Back roller's controller constants. */
@@ -54,7 +56,7 @@ public static class BackRollerConstants {
 
     static {
       CONTROLLER_CONSTANTS.ccwPositive = false;
-      CONTROLLER_CONSTANTS.neutralBrake = true;
+      CONTROLLER_CONSTANTS.neutralBrake = false;
       CONTROLLER_CONSTANTS.sensorToMechanismRatio = 24.0 / 16.0;
     }
 

src/main/java/frc/robot/intake/IntakeState.java

@@ -19,7 +19,7 @@ public record IntakeState(
   }
 
   public boolean at(IntakeState other) {
-    final double kToleranceRotationsPerSecond = 2.5;
+    final double kToleranceRotationsPerSecond = 1;
 
     return MathUtil.isNear(
             frontRollerVelocityRotationsPerSecond,

src/main/java/frc/robot/superstructure/Superstructure.java

@@ -65,8 +65,12 @@ public void addToShuffleboard(ShuffleboardTab tab) {
     ShuffleboardLayout state = Telemetry.addColumn(tab, "State");
 
     state.addString(
-        "Running Command",
+        "State",
         () -> this.getCurrentCommand() != null ? this.getCurrentCommand().getName() : "NONE");
+
+    ShuffleboardLayout at = Telemetry.addColumn(tab, "At Goal?");
+
+    at.addBoolean("At Goal?", () -> at(goal));
   }
 
   private void addStateToShuffleboard(