added the inverted for #17

DeepBlueRobotics · Mar 6, 2024 · 43acf02 · 43acf02
1 parent 5a37fa4
commit 43acf02
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -92,9 +92,7 @@ public Arm() {
         // ------------------------------------------------------------
         armMasterEncoder.setInverted(ENCODER_INVERTED);
 
-        armMotorFollower.follow(armMotorMaster);
-
-        armFollowEncoder.setPosition(armMasterEncoder.getPosition());
+        armMotorFollower.follow(armMotorMaster, MOTOR_INVERTED_FOLLOWER);
         armPIDMaster.setP(kP);
         armPIDMaster.setI(kI);
         armPIDMaster.setD(kD);