no timer

DeepBlueRobotics · Mar 3, 2024 · 30e00bf · 30e00bf
1 parent c31cefc
commit 30e00bf
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
@@ -52,7 +52,7 @@ public void execute() {
     double goalArmRad = goalState.position + speeds * deltaT; 
     goalArmRad = MathUtil.clamp(goalArmRad, LOWER_ANGLE_LIMIT, UPPER_ANGLE_LIMIT);
     goalState = new TrapezoidProfile.State(goalArmRad, 0);
-    TrapezoidProfile.State setpoint = armSubsystem.calculateCustomSetPoint(armTimer.get(), armSubsystem.getCurrentArmState(), goalState);
+    TrapezoidProfile.State setpoint = armSubsystem.calculateCustomSetPoint(0.02, armSubsystem.getCurrentArmState(), goalState);
     armSubsystem.driveArm(setpoint.position);
     lastTime = currTime;
   }
@@ -71,8 +71,6 @@ public double getRequestedSpeeds() {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    armTimer.stop();
-    armTimer.reset();
   }
 
   // Returns true when the command should end.