Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/Robot…

…Code2024 into sofie-arm
DeepBlueRobotics · Mar 3, 2024 · 09e2322 · 09e2322
2 parents 814cd64 + 67be12a
commit 09e2322
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
@@ -25,7 +25,7 @@ public class ArmTeleop extends Command {
   private final DoubleSupplier joystick; 
   private final Arm armSubsystem;
   private double lastTime = 0;
-  private Timer armTimer = new Timer();
+
   TrapezoidProfile.State goalState;
   /** Creates a new ArmTeleop. */
   public ArmTeleop(Arm armSubsystem, DoubleSupplier joystickSupplier) {

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -138,7 +138,7 @@ public void autoCancelArmCommand() {
     }
 
     //#region Drive Methods
-    public void driveArm(double goalAngle){
+    private void driveArm(double goalAngle){
       TrapezoidProfile.State goalState = new TrapezoidProfile.State(goalAngle, 0);
       TrapezoidProfile.State setPoint = armProfile.calculate(kDt, getCurrentArmState(), goalState);
       double armFeedVolts = armFeed.calculate(goalState.velocity, 0);