removed various motor stop commands

TitaniumTitans · Feb 2, 2024 · 5ff1add · 5ff1add
1 parent 03ce07e
commit 5ff1add
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Showing 3 changed files with 2 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -146,7 +146,6 @@ public void teleopInit() {
   @Override
   public void teleopPeriodic() {
     // Function is empty simply to overwrite the default, which throws an error
-//    robotContainer.m_armSubsystem.stopArmFactory().schedule();
   }
 
   /** This function is called once when test mode is enabled. */

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -165,23 +165,21 @@ private void configureButtonBindings() {
 //                            m_driveSubsystem)
 //                .ignoringDisable(true));
 
-    m_armSubsystem.setDefaultCommand(m_armSubsystem.stopArmFactory());
-
     controller.a().whileTrue(m_armSubsystem.setShoulderPowerFactory(armPower.get()))
             .whileFalse(m_armSubsystem.setShoulderPowerFactory(0.0));
     controller.y().whileTrue(m_armSubsystem.setShoulderPowerFactory(-armPower.get()))
             .whileFalse(m_armSubsystem.setShoulderPowerFactory(0.0));
 
     controller.b().whileTrue(m_armSubsystem.setShoulderPositionFactory(armPosition.get()))
-            .whileFalse(m_armSubsystem.setShoulderPositionFactory(0.0));
+            .whileFalse(m_armSubsystem.setShoulderPowerFactory(0.0));
 
     controller.leftBumper().whileTrue(m_armSubsystem.setWristPowerFactory(wristPower.get()))
             .whileFalse(m_armSubsystem.setWristPowerFactory(0.0));
     controller.rightBumper().whileTrue(m_armSubsystem.setWristPowerFactory(-wristPower.get()))
             .whileFalse(m_armSubsystem.setWristPowerFactory(0.0));
 
     controller.x().whileTrue(m_armSubsystem.setWristPositionFactory(wristPosition.get()))
-            .whileFalse(m_armSubsystem.setWristPositionFactory(0.0));
+            .whileFalse(m_armSubsystem.setWristPowerFactory(0.0));
 
   }
 

diff --git a/src/main/java/frc/robot/subsystems/arm/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/arm/ArmSubsystem.java
@@ -19,8 +19,6 @@ public void periodic() {
         m_io.setShoulderVoltage(0.0);
         SmartDashboard.putNumber("Recorded Wrist Position", m_io.getWristPosition().getDegrees());
         SmartDashboard.putNumber("Recorded Shoulder Position", m_io.getShoulderPosition().getDegrees());
-
-        stopArmFactory().schedule();
     }
 
     public void setShoulderPower(double power) {