From 2a7925f6e74236555ffa082b18954bb26b5ccebe Mon Sep 17 00:00:00 2001
From: Gordon Chen <gordonbchen@gmail.com>
Date: Wed, 3 Apr 2024 13:14:10 -0400
Subject: [PATCH] increase intake speed for pickup

---
 src/main/deploy/pathplanner/paths/Amp midline note path.path | 4 ++--
 src/main/deploy/pathplanner/paths/Amp note 2.path            | 4 ++--
 src/main/deploy/pathplanner/paths/Amp return path.path       | 4 ++--
 src/main/java/frc/robot/commands/PickupPiece.java            | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/Amp midline note path.path b/src/main/deploy/pathplanner/paths/Amp midline note path.path
index cf373f1..bef1499 100644
--- a/src/main/deploy/pathplanner/paths/Amp midline note path.path	
+++ b/src/main/deploy/pathplanner/paths/Amp midline note path.path	
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.0,
+        "x": 3.05,
         "y": 6.991369417831561
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.299902856581748,
+        "x": 4.349902856581748,
         "y": 7.366116187296568
       },
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Amp note 2.path b/src/main/deploy/pathplanner/paths/Amp note 2.path
index 5baef2f..5b870bb 100644
--- a/src/main/deploy/pathplanner/paths/Amp note 2.path	
+++ b/src/main/deploy/pathplanner/paths/Amp note 2.path	
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 3.05,
         "y": 6.991369417831561
       },
       "prevControl": {
-        "x": 2.027365849063134,
+        "x": 2.077365849063134,
         "y": 6.991369417831561
       },
       "nextControl": null,
diff --git a/src/main/deploy/pathplanner/paths/Amp return path.path b/src/main/deploy/pathplanner/paths/Amp return path.path
index 78c8b18..efc5bda 100644
--- a/src/main/deploy/pathplanner/paths/Amp return path.path	
+++ b/src/main/deploy/pathplanner/paths/Amp return path.path	
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 3.05,
         "y": 6.991369417831561
       },
       "prevControl": {
-        "x": 5.424143164976773,
+        "x": 5.4741431649767724,
         "y": 6.90939356201109
       },
       "nextControl": null,
diff --git a/src/main/java/frc/robot/commands/PickupPiece.java b/src/main/java/frc/robot/commands/PickupPiece.java
index 5b710de..8b98821 100644
--- a/src/main/java/frc/robot/commands/PickupPiece.java
+++ b/src/main/java/frc/robot/commands/PickupPiece.java
@@ -11,7 +11,7 @@ public PickupPiece() {
     addCommands(
       new ParallelCommandGroup(
         new SetFeederVelocity(700.0),
-        new SetIntakeVelocity(3_500.0),
+        new SetIntakeVelocity(4_000.0),
         new SetShoulderPosition(Shoulder.MIN_ANGLE_DEGREES, true),
         new SetElevatorPosition(0.0, false, true)
       ),