Fixed feed forward

DeepBlueRobotics · Mar 3, 2024 · 79e1759 · 79e1759
1 parent 2072eeb
commit 79e1759
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
@@ -157,7 +157,7 @@ public void autoCancelArmCommand() {
     public 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.velocity, 0, .02);
 
       armPID1.setReference(setPoint.position, CANSparkBase.ControlType.kVelocity, 0, armFeedVolts);
     }