Updated outtake speeds, updated alpha map

src/main/java/frc/robot/maps/Alpha.java

@@ -126,7 +126,8 @@ public AlgaeDestageMap getAlgaeDestageMap() {
     public OuttakeMap getOuttakeMap() {
         CSSparkMax leftWheels = new CSSparkMax(10);
         CSSparkMax rightWheels = new CSSparkMax(11);
-        rightWheels.setInverted(true);
+        // rightWheels.setInverted(true);
+        rightWheels.setInverted(false);
         CSDigitalInput sensor = new CSDigitalInput(9); // same channel as last year dont know if its right
         return new OuttakeMap(leftWheels, rightWheels, sensor::get);
     }

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

@@ -23,6 +23,11 @@ public Command destageAlgae() {
         });
     }
 
+    @Override
+    public void reset() {
+        safeState();
+    }
+
     @Override
     public void safeState() {
         getData().motor.setpoint = 0;

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

@@ -10,11 +10,11 @@
 
 public class Outtake extends LoggedSubsystem<Data, OuttakeMap> {
 
-    private final double RELEASE_SPEEDRIGHT = 1;
-    private final double RELEASE_SPEEDLEFT = 0.5;
-    private final double INTAKE_SPEED = 0.3;
+    private final double RELEASE_SPEEDRIGHT = 0.3;
+    private final double RELEASE_SPEEDLEFT = 0.1;
+    private final double INTAKE_SPEED = 0.2;
     private final double RELEASE_DELAY = 1;
-    private final double DELAY = 0.5;
+    private final double DELAY = 0.0;
 
     public Outtake(OuttakeMap outtakeMap) {
         super(new Data(), outtakeMap);
@@ -38,12 +38,12 @@ public Command spinIn() {
         return run(() -> {
             getData().leftWheel.setpoint = INTAKE_SPEED;
             getData().rightWheel.setpoint = INTAKE_SPEED;
-        }).until(() -> getData().gamePieceDetected).andThen(waitSeconds(DELAY), safeStateCmd());
+        }).until(() -> getData().gamePieceDetected).andThen(safeStateCmd());
     }
 
     @Override
     public void reset() {
-        //
+        safeState();
     }
 
     @Override