feat(intake): Improve eject sequence.

Author: haydenheroux

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

@@ -32,6 +32,8 @@ public static class FrontRollerConstants {
 
     public static final double INTAKE_SPEED = 34;
 
+    public static final double EJECT_SPEED = -34;
+
     /** Maximum speed of the roller in rotations per second. */
     public static final double MAXIMUM_SPEED = 67;
   }
@@ -62,6 +64,8 @@ public static class BackRollerConstants {
 
     public static final double INTAKE_SPEED = 34;
 
+    public static final double EJECT_SPEED = -34;
+
     /** Maximum speed of the roller in rotations per second. */
     public static final double MAXIMUM_SPEED = 67;
   }

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

@@ -13,6 +13,8 @@ public record IntakeState(
 
   public static final IntakeState INTAKE = new IntakeState(FrontRollerConstants.INTAKE_SPEED, BackRollerConstants.INTAKE_SPEED);
 
+  public static final IntakeState EJECT = new IntakeState(FrontRollerConstants.EJECT_SPEED, BackRollerConstants.EJECT_SPEED);
+
   public IntakeState {
     Objects.requireNonNull(frontRollerVelocityRotationsPerSecond);
     Objects.requireNonNull(backRollerVelocityRotationsPerSecond);

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

@@ -22,10 +22,10 @@ public record SuperstructureState(
       new SuperstructureState(ArmState.STOW, IntakeState.INTAKE, ShooterState.INTAKE);
 
   public static final SuperstructureState EJECT_POSITION =
-      new SuperstructureState(ArmState.EJECT, IntakeState.IDLE, ShooterState.IDLE);
+      new SuperstructureState(ArmState.EJECT, IntakeState.EJECT, ShooterState.IDLE);
 
   public static final SuperstructureState EJECT =
-      new SuperstructureState(ArmState.EJECT, IntakeState.IDLE, ShooterState.EJECT);
+      new SuperstructureState(ArmState.EJECT, IntakeState.EJECT, ShooterState.EJECT);
 
   public static final SuperstructureState SPEAKER_PULL =
       new SuperstructureState(ArmState.SPEAKER, IntakeState.IDLE, ShooterState.PULL);