no more paramaters for drive arm!

DeepBlueRobotics · Mar 3, 2024 · 173787b · 173787b
1 parent f3b27d0
commit 173787b
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -141,7 +141,7 @@ public void periodic() {
 
 
         autoCancelArmCommand();
-        driveArm(goalState.position);
+        driveArm();
     }
 
 
@@ -160,8 +160,8 @@ public void autoCancelArmCommand() {
     }
 
     //#region Drive Methods
-    private void driveArm(double goalAngle){
-      TrapezoidProfile.State goalState = new TrapezoidProfile.State(goalAngle, 0);
+    private void driveArm(){
+
       TrapezoidProfile.State setPoint = armProfile.calculate(kDt, getCurrentArmState(), goalState);
       double armFeedVolts = armFeed.calculate(goalState.position, goalState.velocity);
       if ((getArmPos() < LOWER_ANGLE_LIMIT && getCurrentArmGoal().velocity > 0) || (getArmPos() > UPPER_ANGLE_LIMIT && getCurrentArmGoal().velocity > 0)){