From 244d6423f816f4648a8d10618c5f8771b5447919 Mon Sep 17 00:00:00 2001
From: stwiggy <144397102+stwiggy@users.noreply.github.com>
Date: Sat, 2 Mar 2024 23:18:00 -0800
Subject: [PATCH] ff volts

---
 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 b3fbc5b6..7ca154c9 100644
--- a/src/main/java/org/carlmontrobotics/subsystems/Arm.java
+++ b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -163,7 +163,7 @@ public void autoCancelArmCommand() {
     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);
+      double armFeedVolts = armFeed.calculate(goalState.position, goalState.velocity);
       if ((getArmPos() < ARM_LOWER_LIMIT_RAD && getCurrentArmGoal().velocity > 0) || (getArmPos() > ARM_UPPER_LIMIT_RAD && getCurrentArmGoal().velocity > 0)){
         armFeedVolts = armFeed.calculate(getCurrentArmGoal().position, 0);
       }