fixes

src/main/java/frc/robot/RobotContainer.java

@@ -100,7 +100,7 @@ public class RobotContainer {
       () -> stateMachineInstance.tryState(RobotState.PREP_CORNER));
 
   Command TRY_RETRACTING = Commands.deferredProxy(
-      () -> stateMachineInstance.tryState(RobotState.PREP_CORNER));
+      () -> stateMachineInstance.tryState(RobotState.RETRACT_INTAKE));
 
   Command MANUAL = new DeferredCommand(
       driverStateMachineInstance.tryState(

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

@@ -28,17 +28,18 @@ public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState((StateMachine.RobotState.SHOOTING));
     RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED);
     RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);
+    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.INTAKE_ROLLERS_SPEED);
     intakeAgitationTimer.restart();
 
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (!RobotContainer.motionInstance.getIntakePivotAngle().isNear(ConstMotion.RETRACT_INTAKE_PIVOT_ANGLE,
+    if (!RobotContainer.motionInstance.getIntakePivotAngle().isNear(ConstMotion.AGITATE_PIVOT_ANGLE,
         ConstMotion.INTAKE_PIVOT_TOLERANCE)
         && intakeAgitationTimer.hasElapsed(ConstMotion.INTAKE_PIVOT_AGITATION_TIME)) {
-      RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.RETRACT_INTAKE_PIVOT_ANGLE);
+      RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.AGITATE_PIVOT_ANGLE);
       intakeAgitationTimer.restart();
 
     } else if (intakeAgitationTimer.hasElapsed((ConstMotion.INTAKE_PIVOT_AGITATION_TIME))) {

src/main/java/frc/robot/constants/ConstMotion.java

@@ -19,16 +19,17 @@
 
 /** Add your docs here. */
 public class ConstMotion {
-  public static final Angle INTAKE_PIVOT_TOLERANCE = Degrees.of(1.0);
+  public static final Angle INTAKE_PIVOT_TOLERANCE = Degrees.of(5.0);
   public static final Time INTAKE_PIVOT_AGITATION_TIME = Units.Seconds.of(1.0 / 3.0);
   public static final TalonFXConfiguration INTAKE_PIVOT_CONFIGURATION = new TalonFXConfiguration();
   public static final TalonFXConfiguration HOOD_PIVOT_CONFIGURATION = new TalonFXConfiguration();
   public static final Angle DEPLOY_INTAKE_PIVOT_ANGLE = Degrees.of(125);
   public static final Angle RETRACT_INTAKE_PIVOT_ANGLE = Degrees.of(0);
+  public static final Angle AGITATE_PIVOT_ANGLE = Degrees.of(63);
   public static final Angle HOOD_PIVOT_ANGLE = Degrees.of(14);
   public static final Angle HOOD_PIVOT_ANGLE_RETRACT = Degrees.of(0);
   public static final double STOP = 0;
-  public static final Angle HOOD_NONE_ANGLE = Degrees.of(0);
+  public static final Angle HOOD_NONE_ANGLE = Degrees.of(3.2);
   public static final Angle HOOD_TRENCH_ANGLE = Units.Degrees.of(13);
   public static final Angle HOOD_CORNER_ANGLE = Units.Degrees.of(23.5);
   public static final Angle HOOD_TOWER_ANGLE = Units.Degrees.of(14);

src/main/java/frc/robot/subsystems/Motion.java

@@ -33,6 +33,7 @@ public class Motion extends SubsystemBase {
   public Motion() {
     intakePivot.getConfigurator().apply(ConstMotion.INTAKE_PIVOT_CONFIGURATION);
     hoodPivot.getConfigurator().apply(ConstMotion.HOOD_PIVOT_CONFIGURATION);
+    hoodPivot.setPosition(ConstMotion.HOOD_NONE_ANGLE);
   }
 
   /**