From 6f581e053e0809cd72934b1e551dbb953d4efee3 Mon Sep 17 00:00:00 2001
From: cherriae <zeruiz@nycstudents.net>
Date: Mon, 11 Mar 2024 16:16:17 -0400
Subject: [PATCH] added through-bore encoder code for intake

---
 src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 4726e2d..667b1d0 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -4,6 +4,7 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkMaxAlternateEncoder;
 import com.revrobotics.CANSparkBase.SoftLimitDirection;
 
 import edu.wpi.first.math.MathUtil;
@@ -53,7 +54,7 @@ public IntakeSubsystem() {
     _feedMotor = new CANSparkMax(Constants.CAN.INTAKE_FEED, MotorType.kBrushless);
     _actuatorMotor = new CANSparkMax(Constants.CAN.INTAKE_ACTUATOR, MotorType.kBrushless);
 
-    _actuatorEncoder = _actuatorMotor.getEncoder();
+    _actuatorEncoder = _actuatorMotor.getAlternateEncoder(SparkMaxAlternateEncoder.Type.kQuadrature, 8192);
     _actuatorEncoder.setPosition(0);
 
     _feedEncoder = _feedMotor.getEncoder();