From 79e17593af2f245f3853ff3ebfc1f7832b7be6b8 Mon Sep 17 00:00:00 2001
From: Brandon <brandonshen123@gmail.com>
Date: Sat, 2 Mar 2024 22:16:00 -0800
Subject: [PATCH] Fixed feed forward

---
 src/main/java/org/carlmontrobotics/subsystems/Arm.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
index 6eae7657..5d2c7b8b 100644
--- 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);
     }