From ec758efb2d450397008713fac81c3295ae17488a Mon Sep 17 00:00:00 2001
From: Sofie Budman <105175854+sofiebudman@users.noreply.github.com>
Date: Sat, 2 Mar 2024 23:15:45 -0800
Subject: [PATCH] changed to setarm target in robocontainer

---
 .../java/org/carlmontrobotics/RobotContainer.java  | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
index a61fd739..fc6e94fb 100644
--- a/src/main/java/org/carlmontrobotics/RobotContainer.java
+++ b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -72,15 +72,15 @@ private void setBindingsManipulator() {
     //right joystick used for manual arm control
 
     // Speaker Buttons
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_POD_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.PODIUM_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_NEXT_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.SUBWOFFER_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_SAFE_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.SAFE_ZONE_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_POD_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(PODIUM_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_NEXT_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(SUBWOFFER_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_SAFE_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(SAFE_ZONE_ANGLE);}));
     // Amp and Intake Buttons
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_AMP_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.AMP_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_GROUND_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.INTAKE_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_AMP_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(AMP_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_GROUND_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(INTAKE_ANGLE);}));
     // Cimber Buttons
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.CLIMBER_UP_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.LOWER_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.CLIMBER_DOWN_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(CLIMBER_UP_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.LOWER_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(CLIMBER_DOWN_ANGLE);}));
   }
 
   public Command getAutonomousCommand() {