From 7ce82f79e1aa74433adec4969d74bf0920229f9b Mon Sep 17 00:00:00 2001
From: Brandon <brandonshen123@gmail.com>
Date: Sat, 2 Mar 2024 21:45:56 -0800
Subject: [PATCH] fixed arm teleop

---
 src/main/java/org/carlmontrobotics/commands/ArmTeleop.java | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
index c06fb9e8..5e769975 100644
--- 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.