Arm Code Review Master Issue

[isabellebowdey]

ArmSubsystem

• deleted ArnSetPoint enum, wasn't being used
• deleted commented AnArmPosition code
• deleted PID controller, wasn't working
• switched .setFactoryDefault and .setInverted for primary motor (factory default is first now), as we think .setFactoryDefault was undoing .setInverted
• [ ] setWristMotorPosition (and Arm) - if using, replace magic # (0.5) with constant. Use?
• [ ] for setPrimaryArmMotorPosition, use for auto. returns a boolean

ArmCommand

• made constants for magic numbers
• deleted commented code

GrabberSubsystem

• got rid of grabber limit switch
• [ ] remove magic number for setGrabberPosition (~line 44)
• changed getGrabberEncoder to m_armGrabberClass.grabberPosition in periodic code
• line 90 - CALVIN!!!!! (deleted)

GrabberCommand

• deleted old commented code
• added a Direction.stopped enum state for when the grabber is not moving
• added a log for grabber direction
• set the grabber motor to 0 and Direction to stopped in end

AutoMovePrimaryArm

• changed isFinished to not return false, but when we want it to end (m_atSetPoint)
• made setPrimaryArmPosition a boolean, command will stop when at setPoint
• [ ] might need to tune deadband of setPrimaryArmPosition, make sure it works correctly

AutoMoveWrist

• [ ] when the encoder isn't changing anymore, end command
• deprecated
• ends right when the deadband is reached
• [ ] deadband for setWristPosition might need tuning