Merge branch 'sofie-arm' of https://github.com/deepbluerobotics/Robot…

…Code2024 into sofie-arm
DeepBlueRobotics · Mar 2, 2024 · a6b4f82 · a6b4f82
2 parents 44b3ccd + e472500
commit a6b4f82
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Showing 8 changed files with 4 additions and 336 deletions.
diff --git a/src/main/java/org/carlmontrobotics/commands/armAmpPos.java b/src/main/java/org/carlmontrobotics/commands/armAmpPos.java
diff --git a/src/main/java/org/carlmontrobotics/commands/armClimberDownPos.java b/src/main/java/org/carlmontrobotics/commands/armClimberDownPos.java
diff --git a/src/main/java/org/carlmontrobotics/commands/armClimberUpPos.java b/src/main/java/org/carlmontrobotics/commands/armClimberUpPos.java
diff --git a/src/main/java/org/carlmontrobotics/commands/armGroundPos.java b/src/main/java/org/carlmontrobotics/commands/armGroundPos.java
diff --git a/src/main/java/org/carlmontrobotics/commands/armNextToSpeakerPos.java b/src/main/java/org/carlmontrobotics/commands/armNextToSpeakerPos.java
diff --git a/src/main/java/org/carlmontrobotics/commands/armPodiumSpeakerPos.java b/src/main/java/org/carlmontrobotics/commands/armPodiumSpeakerPos.java
diff --git a/src/main/java/org/carlmontrobotics/commands/armSafeZonePos.java b/src/main/java/org/carlmontrobotics/commands/armSafeZonePos.java
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java
@@ -4,7 +4,6 @@
 import org.carlmontrobotics.commands.ArmTeleop;
 import org.carlmontrobotics.lib199.MotorConfig;
 import org.carlmontrobotics.lib199.MotorControllerFactory;
-
 import com.revrobotics.CANSparkBase;
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkMax;
@@ -122,19 +121,19 @@ public void periodic() {
         autoCancelArmCommand();
     }
 
-   /*  public void autoCancelArmCommand() {
+  public void autoCancelArmCommand() {
         if(!(getDefaultCommand() instanceof ArmTeleop) || DriverStation.isAutonomous()) return;
 
-        double[] requestedSpeeds = ((ArmTeleop) getDefaultCommand()).getRequestedSpeeds();
+        double requestedSpeeds = ((ArmTeleop) getDefaultCommand()).getRequestedSpeeds();
 
-        if(requestedSpeeds[0] != 0 || requestedSpeeds[1] != 0) {
+        if(requestedSpeeds != 0) {
             Command currentArmCommand = getCurrentCommand();
             if(currentArmCommand != getDefaultCommand() && currentArmCommand != null) {
                 currentArmCommand.cancel();
             }
         }
     }
-*/
+
     //#region Drive Methods
 
     public void driveArm(double goalAngle) {