From 0157dcd9348051a6c2585ddda4f0c085e7798e99 Mon Sep 17 00:00:00 2001
From: Brandon <brandonshen123@gmail.com>
Date: Mon, 4 Mar 2024 20:18:33 -0800
Subject: [PATCH] turns off pid if arm overshoots

---
 src/main/java/org/carlmontrobotics/subsystems/Arm.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
index 66251b34..5e5569a6 100644
--- a/src/main/java/org/carlmontrobotics/subsystems/Arm.java
+++ b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -166,7 +166,7 @@ private void driveArm() {
             armFeedVolts = armFeed.calculate(getCurrentArmGoal().position, 0);
         }
         armPIDMaster.setReference(setPoint.position, CANSparkBase.ControlType.kVelocity, 0, armFeedVolts);
-        if (armAtSetpoint()){
+        if (armAtSetpoint() || getArmPos() > setPoint.position){
             armPIDMaster.setIZone(Double.POSITIVE_INFINITY);//turns off pid once it reaches the setpoint
         }
         else {