Made the relative intake speed and dot product functions. Used this t…

simgui-ds.json

@@ -99,13 +99,15 @@
   ],
   "robotJoysticks": [
     {
-      "guid": "Keyboard0"
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
     },
     {
-      "guid": "Keyboard1"
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
     },
     {
-      "guid": "Keyboard2"
+      "useGamepad": true
     }
   ]
 }

src/main/java/frc/robot/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Dreadbots2026";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 320;
-  public static final String GIT_SHA = "947c63f762dc7da313d3accb4446bedf85d3da40";
-  public static final String GIT_DATE = "2026-03-18 18:28:57 EDT";
-  public static final String GIT_BRANCH = "dev";
-  public static final String BUILD_DATE = "2026-03-27 16:31:19 EDT";
-  public static final long BUILD_UNIX_TIME = 1774643479924L;
+  public static final int GIT_REVISION = 325;
+  public static final String GIT_SHA = "83a38c2d2eff83be3200a6fd133e0af4775390a9";
+  public static final String GIT_DATE = "2026-03-28 14:28:17 EDT";
+  public static final String GIT_BRANCH = "Mathew-IntakeSpeedBasedOnRobotSpeed";
+  public static final String BUILD_DATE = "2026-04-03 18:01:51 EDT";
+  public static final long BUILD_UNIX_TIME = 1775253711273L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc/robot/Constants.java

@@ -143,8 +143,8 @@ public static class SlapdownConstants {
     public static final double KG = 0.0;
     public static final double MAX_VELOCITY = 540;
     public static final double MAX_ACCELERATION = 540;
-    public static final int SLAPDOWN_GEARING = 1;
-    public static final int INTAKE_GEARING = 1;
+    public static final int SLAPDOWN_GEARING = 27;
+    public static final double INTAKE_GEARING = 1.4;
     public static final double ARM_LENGTH = Units.inchesToMeters(11.75);
     public static final double MIN_ANGLE_RAD = Units.degreesToRadians(-20);
     public static final double MAX_ANGLE_RAD = Units.degreesToRadians(131.5);

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

@@ -99,7 +99,7 @@ public RobotContainer() {
                 flywheel = new Flywheel(new FlywheelIOSparkFlex(), turret);
                 hood = new Hood(new HoodIOSparkMax());
                 indexer = new Indexer(new IndexerIOSparkFlex(), operator);
-                slapdown = new Slapdown(new SlapdownIOSparkFlex());
+                slapdown = new Slapdown(new SlapdownIOSparkFlex(), drive::getChassisSpeeds);
                 climb = new Climb(new ClimbIOSparkFlex(), slapdown);
                 break;
             case SIM:
@@ -120,7 +120,7 @@ public RobotContainer() {
                 flywheel = new Flywheel(new FlywheelIOSim(), turret);
                 hood = new Hood(new HoodIOSim());
                 indexer = new Indexer(new IndexerIOSim(), operator);
-                slapdown = new Slapdown(new SlapdownIOSim());
+                slapdown = new Slapdown(new SlapdownIOSim(), drive::getChassisSpeeds);
                 climb = new Climb(new ClimbIOSim(), slapdown);
 
                 break;
@@ -140,7 +140,7 @@ public RobotContainer() {
                 flywheel = new Flywheel(new FlywheelIOSparkFlex(), turret);
                 hood = new Hood(new HoodIOSparkMax());
                 indexer = new Indexer(new IndexerIOSparkFlex(), operator);
-                slapdown = new Slapdown(new SlapdownIOSparkFlex());
+                slapdown = new Slapdown(new SlapdownIOSparkFlex(), drive::getChassisSpeeds);
                 climb = new Climb(new ClimbIOSparkFlex(), slapdown);
                 break;
         }

src/main/java/frc/robot/subsystems/slapdown/Slapdown.java

@@ -1,9 +1,17 @@
 package frc.robot.subsystems.slapdown;
 
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
+
 import org.littletonrobotics.junction.Logger;
+import org.opencv.core.RotatedRect;
 
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Twist2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -13,9 +21,9 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.Constants.SlapdownConstants;
+import frc.robot.subsystems.drive.DriveConstants;
 
 public class Slapdown extends SubsystemBase {
-
     private final SlapdownIOInputsAutoLogged inputs = new SlapdownIOInputsAutoLogged();
     private final SlapdownIO io;
     public final PIDController pid = new PIDController(SlapdownConstants.KP, SlapdownConstants.KI,
@@ -34,8 +42,11 @@ public class Slapdown extends SubsystemBase {
     private TrapezoidProfile.State goal = new TrapezoidProfile.State(0, 0);
     private TrapezoidProfile.State setpoint = new TrapezoidProfile.State();
 
-    public Slapdown(SlapdownIO io) {
+    private final Supplier<ChassisSpeeds> speedsSupplier;
+
+    public Slapdown(SlapdownIO io, Supplier<ChassisSpeeds> speedsSupplier) {
         this.io = io;
+        this.speedsSupplier = speedsSupplier;
         SmartDashboard.putData("SlapdownPID", pid);
     }
 
@@ -64,7 +75,7 @@ public Command intakeCommand() {
         return Commands.runEnd(
             () -> {
                 if (canRunIntake()) {
-                    io.runIntakeVoltage(SlapdownConstants.INTAKE_VOLTAGE);
+                    io.runIntakeVoltage(relativeIntakeSpeed());
                 }
             },
             () -> io.runIntakeVoltage(0.0)
@@ -143,4 +154,35 @@ public Command setAngleDegrees(double angle) {
     public double getAngle() {
         return inputs.absolutePosition;
     }
-}
+
+    public double getDotProduct() {
+        ChassisSpeeds speeds = speedsSupplier.get();
+
+        double xVelo = speeds.vxMetersPerSecond;
+        double yVelo = speeds.vyMetersPerSecond;
+
+        double dotProduct = xVelo + 0.5 * Math.abs(yVelo);
+        return dotProduct;
+    }
+
+    public double relativeIntakeSpeed() {
+        // i is the intake voltage
+        // v is the dot product range
+        double dotProduct = getDotProduct();
+        double iMin = SlapdownConstants.INTAKE_VOLTAGE/2;
+        double iMax = SlapdownConstants.INTAKE_VOLTAGE;
+        double vMin = 0;
+        double vMax = DriveConstants.maxSpeedMetersPerSec;;
+        double i;
+
+        if (dotProduct < vMin){
+            i = iMin;
+        } else if (dotProduct > vMax) {
+            i = iMax;
+        } else {
+            i = ((dotProduct - vMin)/(vMax - vMin))*(iMax - iMin) + iMin;
+        }
+        Logger.recordOutput("Intake/relativeVoltage", i);
+        return i;
+    }
+}

src/main/java/frc/robot/subsystems/slapdown/SlapdownIOSim.java

@@ -28,8 +28,8 @@ public SlapdownIOSim() {
             Units.degreesToRadians(0)
             );
         this.intakeMotor = new DCMotorSim(
-            LinearSystemId.createDCMotorSystem(DCMotor.getNEO(1), SlapdownConstants.SIM_INTAKE_MOI, SlapdownConstants.INTAKE_GEARING), 
-            DCMotor.getNEO(1)
+            LinearSystemId.createDCMotorSystem(DCMotor.getKrakenX60Foc(1), SlapdownConstants.SIM_INTAKE_MOI, SlapdownConstants.INTAKE_GEARING), 
+            DCMotor.getKrakenX60Foc(1)
         );
         pivotVolts = 0.0;
         intakeVolts = 0.0;