fixes

[jaymendo670-png]

No description provided.

[Copilot]

Pull request overview

This PR adjusts shooter/intake behavior and motion defaults to better match intended robot states, including updated motion constants and a corrected driver binding for retracting the intake.

Changes:

• Initialize the hood to a “none” angle and adjust hood/intake motion constants (tolerances/angles).
• Fix the TRY_RETRACTING deferred command to request RETRACT_INTAKE instead of PREP_CORNER.
• Update the Shooting state to run the intake rollers and change the intake pivot “agitation” behavior to use a new angle constant.

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.

File	Description
src/main/java/frc/robot/subsystems/Motion.java	Adds hood initialization in the subsystem constructor.
src/main/java/frc/robot/RobotContainer.java	Fixes the retract button’s requested robot state.
src/main/java/frc/robot/constants/ConstMotion.java	Updates pivot tolerance, adds agitation angle, adjusts hood “none” angle.
src/main/java/frc/robot/commands/states/Shooting.java	Runs intake rollers while shooting and changes intake pivot agitation target(s).

Comments suppressed due to low confidence (1)

src/main/java/frc/robot/commands/states/Shooting.java:48

• This command now starts the intake rollers during shooting, but end() does not stop them. That can leave the intake running after the shoot command finishes (or is interrupted) until another state stops it.

    } else if (intakeAgitationTimer.hasElapsed((ConstMotion.INTAKE_PIVOT_AGITATION_TIME))) {
      RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
      intakeAgitationTimer.restart();
    }

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.