From d557415e6f7b8379a605965f6a73e849a397215c Mon Sep 17 00:00:00 2001
From: Brandon <83319404+BrandonS09@users.noreply.github.com>
Date: Mon, 4 Mar 2024 23:12:55 +0000
Subject: [PATCH] More Units

---
 src/main/java/org/carlmontrobotics/Constants.java         | 8 +++-----
 .../java/org/carlmontrobotics/commands/ArmTeleop.java     | 2 +-
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
index a850579e..e05c7dc0 100644
--- a/src/main/java/org/carlmontrobotics/Constants.java
+++ b/src/main/java/org/carlmontrobotics/Constants.java
@@ -26,8 +26,6 @@ public static final class Drivetrain {
 	
 	public static final class Arm {
 
-	
-
 		//Motor port
 		public static final int ARM_MOTOR_PORT_MASTER = 13;
 		public final static int ARM_MOTOR_PORT_FOLLOWER = 18;
@@ -62,15 +60,15 @@ public static final class Arm {
 		public static final double kV = 0.1;
 		public static final double kA = 0.1;
 		public static final double IZONE = 4;
-		public static final double MAX_FF_VEL = 1; // rot / s
-		public static final double MAX_FF_ACCEL = 1; // rot / s^2 
+		public static final double MAX_FF_VEL_RAD_P_S = 1; // rad / s
+		public static final double MAX_FF_ACCEL_RAD_P_S = 1; // rad / s^2 
 
 		//if needed
 		public static final double COM_ARM_LENGTH_METERS = 0.381 ;
 		public static final double ARM_MASS_KG = 9.59302503;
 		
 		
-		public static TrapezoidProfile.Constraints TRAP_CONSTRAINTS = new TrapezoidProfile.Constraints(MAX_FF_VEL, MAX_FF_ACCEL);
+		public static TrapezoidProfile.Constraints TRAP_CONSTRAINTS = new TrapezoidProfile.Constraints(MAX_FF_VEL_RAD_P_S, MAX_FF_ACCEL_RAD_P_S);
 		//other0;
 
 		public static final double MARGIN_OF_ERROR = Math.PI/18;
diff --git a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
index b0a29f13..cf92232e 100644
--- a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
+++ b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
@@ -62,7 +62,7 @@ public double getRequestedSpeeds() {
     if (Math.abs(joystick.getAsDouble()) <= Constants.OI.JOY_THRESH) {
       rawArmVel = 0.0;
     } else {
-      rawArmVel = MAX_FF_VEL * joystick.getAsDouble();
+      rawArmVel = MAX_FF_VEL_RAD_P_S * joystick.getAsDouble();
     }
 
     return rawArmVel;