From 173787b162b5add1bb9441b6911e8e37881860e9 Mon Sep 17 00:00:00 2001
From: Sofie Budman <105175854+sofiebudman@users.noreply.github.com>
Date: Sun, 3 Mar 2024 00:41:10 -0800
Subject: [PATCH] no more paramaters for drive arm!

---
 src/main/java/org/carlmontrobotics/subsystems/Arm.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
index 884134cd..5af8c913 100644
--- 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)){