Added master and slave motor

DeepBlueRobotics · Mar 2, 2024 · 26f86ef · 26f86ef
1 parent cbd88d6
commit 26f86ef
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -32,7 +32,7 @@ public class Arm extends SubsystemBase {
     // a boolean meant to tell if the arm is in a forbidden posistion AKA FORBIDDEN FLAG
     private static boolean forbFlag;
     private final CANSparkMax armMotor1 = MotorControllerFactory.createSparkMax(ARM_MOTOR_PORT_1, MotorConfig.NEO);
-    private final CANSparkMax armMotor2 = MotorControllerFactory.createSparkMax(ARM_MOTOR_PORT_2, MotorConfig.NEO)
+    private final CANSparkMax armMotor2 = MotorControllerFactory.createSparkMax(ARM_MOTOR_PORT_2, MotorConfig.NEO);
     private final RelativeEncoder armEncoder = armMotor1.getEncoder();
 
 
@@ -56,6 +56,8 @@ public Arm() {
         armEncoder.setPositionConversionFactor(rotationToRad);
         armEncoder.setVelocityConversionFactor(rotationToRad);
         armEncoder.setInverted(encoderInverted);
+
+        armMotor2.follow(armMotor1);
 
         //armEncoder1.setZeroOffset(offsetRad);