changed armteleop so its a defualt command instead of periodic in sub…

…system

src/main/java/org/carlmontrobotics/RobotContainer.java

@@ -4,16 +4,23 @@
 
 package org.carlmontrobotics;
 
+import org.carlmontrobotics.commands.ArmTeleop;
+import org.carlmontrobotics.subsystems.Arm;
+
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-
+import edu.wpi.first.wpilibj.XboxController.Axis;
 public class RobotContainer {
 	//set up subsystems / controllers / limelight
-
+	private final XboxController driverController = new XboxController(0);
+	public Arm arm = new Arm();
   public RobotContainer() {
 		//defaultCommands: elevator, dt
 		//(pass in controller!)
-
+
+		arm.setDefaultCommand(new ArmTeleop(driverController.getLeftY(() -> ProcessedAxisValue(driverController, Axis.kLeftY))));
+
     configureBindingsDriver();
 		configureBindingsManipulator();
   }
@@ -31,7 +38,6 @@ private void configureBindingsManipulator() {
     //3 setpositions of arm on letterpad
     //right joystick used for manual arm control
 	}
-
   public Command getAutonomousCommand() {
      return Commands.print("No autonomous command configured");
 

src/main/java/org/carlmontrobotics/commands/ArmTeleop.java

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.carlmontrobotics.commands;
+
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+
+public class ArmTeleop extends CommandBase {
+  private final DoubleSupplier joystick; 
+  /** Creates a new ArmTeleop. */
+  public ArmTeleop(DoubleSupplier joystickSupplier) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    joystick = joystickSupplier;
+    addRequirements();
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double value = joystick.getAsDouble();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/org/carlmontrobotics/subsystems/Arm.java

@@ -27,8 +27,8 @@
 public class Arm extends SubsystemBase {
     private final CANSparkMax armMotor = MotorControllerFactory.createSparkMax(Constants.Arm.MOTOR_PORT,MotorConfig.NEO);
     private final SimpleMotorFeedforward armFeed = new SimpleMotorFeedforward(Constants.Arm.kS, Constants.Arm.kV);
-    private final XboxController controller;
-    public Arm(XboxController controller) {
+
+    public Arm() {
 			//arm 
       /*
        have 3 set positions
@@ -39,7 +39,6 @@ public Arm(XboxController controller) {
 
        There will also be a manual control for the arm using the right joystick
       */
-      this.controller = controller;
     }
 
     public void setArmGoal(double targetPosition, double targetVelocity) {
@@ -71,7 +70,6 @@ public double getArmClampedGoal(double goal) {
     }
     @Override
     public void periodic() {
-     // run moveArm passing in controller here
-     controllerMoveArm(controller.getRightY());
+
 		}
 }