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RIT-VEX-U · Feb 15, 2024 · 338b401 · 338b401
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commit 338b401
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/cata_system.cpp b/src/cata_system.cpp
@@ -22,7 +22,7 @@ void CataSys::send_command(Command next_cmd) {
     case CataSys::Command::IntakeIn:
         if (cata_sys.current_state() == CataOnlyState::CataOff) {
             intake_sys.send_message(IntakeMessage::IntakeHold);
-        } else if (cata_sys.intaking_allowed()) {
+        } else {
             intake_sys.send_message(IntakeMessage::Intake);
         }
         break;

diff --git a/src/robot-config.cpp b/src/robot-config.cpp
@@ -100,8 +100,8 @@ vex::distance intake_watcher(vex::PORT3);
 vex::optical cata_watcher(vex::PORT15); // Final Port
 vex::pot cata_pot(Brain.ThreeWirePort.E);
 
-PID::pid_config_t pc = {.p = 2.05,
-                        .d = 0.075,
+PID::pid_config_t pc = {.p = 1.75,
+                        .d = 0.05,
                         // .i = 2,
                         .deadband = 3.0,
                         .on_target_time = 0.3};