drive arm to arm goal

fixes #20
DeepBlueRobotics · Mar 6, 2024 · 6b6abd8 · 6b6abd8
1 parent 0bfc3eb
commit 6b6abd8
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -171,7 +171,7 @@ public void autoCancelArmCommand() {
     // #region Drive Methods
     private void driveArm() {
         setpoint = armProfile.calculate(kDt, setpoint, goalState);
-        double armFeedVolts = armFeed.calculate(getArmPos(), setpoint.velocity);
+        double armFeedVolts = armFeed.calculate(setpoint.position, setpoint.velocity);
         if ((getArmPos() < LOWER_ANGLE_LIMIT_RAD)
                 || (getArmPos() > UPPER_ANGLE_LIMIT_RAD)) {
             armFeedVolts = armFeed.calculate(getArmPos(), 0);